Merge pull request #53 from KIT-MRT/improve_comparison_to_behavior_trees

Improve comparison to behavior trees a bit further

Author: ll-nick

content/03_fundamentals.tex

@@ -65,22 +65,22 @@ \subsection{Decision-Making}
 \textbf{Comparing Arbitration graphs to BTs}, both appear similar at first glance, but differ in several key aspects:
 
 % Return Type/Interfaces
-\gls{BT} nodes return execution status, while arbitration graphs return commands.
+\gls{BT} nodes return execution status, while behavior components in arbitration graphs return commands.
 %% note: we talk about the AG behavior components, but "arbitration graph behavior components" is a bit lengthy…
 %
 % While the former adds more flexibility to each nodes actuator-facing interfaces,
-While the former adds more flexibility to each nodes actuator interfaces,
+While the former adds more flexibility to each node's actuator interfaces,
 %
 % the latter focuses on a consistent control theory motivated interface $f(\situation) \to \command$.
 % the latter focuses on a control theory motivated and verifiable interface $f(\situation) \to \command$.
-the latter focuses on a control theory motivated interface $f(\situation) \to \command$ % with verifiable~$\command$.
-allowing the command to be verified before executing it in a down-stream module.
+the latter focuses on a control theory motivated interface ${f(\situation) \to \command}$ % with verifiable~$\command$.
+allowing the command to be verified by each arbitrator before executing it in a down-stream module.
 
 % Preconditions
-In \glspl{BT}, preconditions are realized by condition nodes distributed throughout the tree.
+In \glspl{BT}, preconditions are implemented by condition nodes distributed throughout the tree.
 %
 % In contrast, arbitration graphs couple a behavior component with its preconditions.
-In contrast, arbitration graphs require behavior components to implement their own preconditions.
+In contrast, arbitration graphs require behavior components to define their own preconditions.
 %
 % This tight coupling ensures that robustness and safety are less dependent on node arrangement.
 % This tight coupling is a foundation for robustness and safety being independent of node arrangement.