We present the Dynamic Stack Decider (DSD), a lightweight open-source control architecture. It combines different well-known approaches and is inspired by behavior trees as well as hierarchical state machines. The DSD allows to design and structure complex behavior of robots as well as software agents while providing easy maintainability. Challenges that often occur in robotics, i.e., a dynamic environment and situation uncertainty, remain well-manageable. Furthermore, it allows fast modifications of the control flow, while providing the state-fullness of a state machine. The approach allows developing software using a simple Domain Specific Language (DSL) which defines the control flow and two types of elements that contain the programmed parts. The framework takes care of executing the demanded portions of the code and gives, due to its stack-like internal representation, the ability to verify preconditions while maintaining a clear structure. The presented software was used in different robotic scenarios and showed great performance in terms of flexibility and structuredness.

我们介绍了动态堆栈决策程序 （DSD），这是一种轻量级的开源控制体系结构。它结合了各种众所周知的方法，并受到了行为树和分层状态机的启发。DSD允许设计和构造机器人以及软件代理的复杂行为，同时提供易于维护的功能。机器人技术中经常发生的挑战（例如动态环境和情况不确定性）仍然可以很好地控制。此外，它允许快速修改控制流程，同时提供状态机的状态填充。该方法允许使用简单的领域特定语言（DSL）开发软件，该语言定义了控制流以及包含已编程部分的两种类型的元素。该框架负责执行代码的所需部分，并由于其类似堆栈的内部表示形式而具有在保持清晰结构的同时验证前提条件的能力。