Software frameworks for behaviour are critical in robotics as they enable the correct and efficient execution of functions. While modern behaviour systems have improved their composability, they do not focus on smooth transitions and often lack functionality. In this work, we present the Director, a novel behaviour framework and algorithm that addresses these problems. It has functionality for soft transitions, multiple implementations of the same action chosen based on conditionals, and strict resource control. This system has shown success in the Humanoid Kid Size 2022/2023 Virtual Season and the Humanoid Kid Size RoboCup 2023 Bordeaux competition.

翻译：摘要：行为软件框架对机器人技术至关重要，因为它们能确保功能正确高效地执行。尽管现代行为系统在可组合性方面有所改进，但它们并未关注平滑过渡，且常缺乏功能性。本研究提出"导演"这一新型行为框架与算法，旨在解决上述问题。该框架具备软过渡功能、基于条件选择同一动作的多种实现方案，以及严格的资源控制能力。该系统已在2022/2023年虚拟赛季类人儿童组比赛及2023年波尔多RoboCup类人儿童组比赛中成功应用。