{"id":"https://openalex.org/W4403676880","doi":"https://doi.org/10.1109/case59546.2024.10711822","title":"Behavior Trees in Industrial Applications: A Case Study in Underground Explosive Charging","display_name":"Behavior Trees in Industrial Applications: A Case Study in Underground Explosive Charging","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403676880","doi":"https://doi.org/10.1109/case59546.2024.10711822"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711822","doi":"https://doi.org/10.1109/case59546.2024.10711822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711822","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"IEEE International Conference on Automation Science and Engineering (CASE)","issn_l":"2161-8070","issn":["2161-8070"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.19602","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056562984","display_name":"Mattias Hall\u00e9n","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mattias Hallen","raw_affiliation_strings":["ABB Mining R&#x0026;D,Ume&#x00E5;,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Mining R&#x0026;D,Ume&#x00E5;,Sweden","institution_ids":["https://openalex.org/I4210086503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008610224","display_name":"Matteo Iovino","orcid":"https://orcid.org/0000-0002-6119-6399","observed_orcids":["https://orcid.org/0000-0002-6119-6399"]},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Matteo Iovino","raw_affiliation_strings":["ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden","institution_ids":["https://openalex.org/I4210086503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003308056","display_name":"Shiva Sander-Tavallaey","orcid":"https://orcid.org/0000-0001-6551-9784","observed_orcids":["https://orcid.org/0000-0001-6551-9784"]},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Shiva Sander-Tavallaey","raw_affiliation_strings":["ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden","institution_ids":["https://openalex.org/I4210086503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060213000","display_name":"Christian Smith","orcid":"https://orcid.org/0000-0003-2078-8854","observed_orcids":["https://orcid.org/0000-0003-2078-8854"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christian Smith","raw_affiliation_strings":["KTH - Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH - Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7893,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76747843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"156","last_page":"162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9419000148773193,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9419000148773193,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.03970000147819519,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.0034000000450760126,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/behavior-trees","display_name":"behavior trees","score":0.996999979019165},{"id":"https://openalex.org/keywords/finite-state-machines","display_name":"finite automata","score":0.9980000257492065},{"id":"https://openalex.org/keywords/decision-making-policy","display_name":"decision-making policy","score":0.6050000190734863},{"id":"https://openalex.org/keywords/autonomous-systems","display_name":"autonomous systems","score":0.7720000147819519},{"id":"https://openalex.org/keywords/industrial-robotics","display_name":"industrial robotics","score":0.621999979019165},{"id":"https://openalex.org/keywords/underground-mining","display_name":"underground mining","score":0.7129999995231628},{"id":"https://openalex.org/keywords/human-oversight","display_name":"human oversight","score":0.5389999747276306},{"id":"https://openalex.org/keywords/software-maintainability","display_name":"software maintainability","score":0.5960000157356262}],"concepts":[{"id":"https://openalex.org/C154238967","wikidata":"https://www.wikidata.org/wiki/Q12870","display_name":"Explosive material","level":2,"score":0.9105204343795776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3813396990299225},{"id":"https://openalex.org/C77595967","wikidata":"https://www.wikidata.org/wiki/Q3151013","display_name":"Forensic engineering","level":1,"score":0.3395480513572693},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3341880738735199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2981649935245514},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.14303073287010193},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13100668787956238}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/case59546.2024.10711822","doi":"https://doi.org/10.1109/case59546.2024.10711822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711822","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"IEEE International Conference on Automation Science and Engineering (CASE)","issn_l":"2161-8070","issn":["2161-8070"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2403.19602","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.19602","pdf_url":"https://arxiv.org/pdf/2403.19602","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2403.19602","doi":"https://doi.org/10.48550/arxiv.2403.19602","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2403.19602","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.19602","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.19602","pdf_url":"https://arxiv.org/pdf/2403.19602","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.6773999929428101,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403676880.pdf","grobid_xml":"https://content.openalex.org/works/W4403676880.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2171246729","https://openalex.org/W2410933284","https://openalex.org/W2418332696","https://openalex.org/W2520741358","https://openalex.org/W2548961765","https://openalex.org/W2567075875","https://openalex.org/W2888960417","https://openalex.org/W3024044737","https://openalex.org/W3082488836","https://openalex.org/W3118421494","https://openalex.org/W3145123113","https://openalex.org/W3156338307","https://openalex.org/W3198931217","https://openalex.org/W3205890605","https://openalex.org/W4225310375","https://openalex.org/W4225666489","https://openalex.org/W4280571816","https://openalex.org/W4383108610","https://openalex.org/W4387123604","https://openalex.org/W4401417343"],"related_works":["https://openalex.org/W4414229237","https://openalex.org/W4383108610","https://openalex.org/W4225666489","https://openalex.org/W3024044737","https://openalex.org/W2772020061","https://openalex.org/W4366668639","https://openalex.org/W3145123113","https://openalex.org/W7045622756","https://openalex.org/W2115409846","https://openalex.org/W7214037436"],"abstract_inverted_index":{"In":[0,18],"industrial":[1,69,84],"applications":[2],"Finite":[3],"State":[4],"Machines":[5],"(FSMs)":[6],"are":[7,43,165],"often":[8],"used":[9],"to":[10,53,116],"implement":[11],"decision":[12],"making":[13],"policies":[14],"for":[15,68],"autonomous":[16],"systems.":[17],"recent":[19],"years,":[20],"the":[21,75,100,107,118,130,135,146,154],"use":[22,85,147],"of":[23,38,66,106,134,139],"Behavior":[24],"Trees":[25],"(BT)":[26],"as":[27,121],"an":[28],"alternative":[29],"policy":[30],"representation":[31],"has":[32],"gained":[33],"considerable":[34],"attention.":[35],"The":[36,103,137],"benefits":[37],"using":[39],"BTs":[40,67,80,125],"over":[41],"FSMs":[42,127],"modularity":[44],"and":[45,55,94,132,163],"reusability,":[46],"enabling":[47],"a":[48,82,88,122],"system":[49,90,120,156],"that":[50,110],"is":[51,109,114,142],"easy":[52],"extend":[54],"modify.":[56],"However,":[57],"there":[58],"exists":[59],"few":[60],"published":[61],"studies":[62],"on":[63,99],"successful":[64],"implementations":[65],"applications.":[70],"This":[71],"paper":[72,108],"contributes":[73],"with":[74,126],"lessons":[76],"learned":[77],"from":[78],"implementing":[79],"in":[81,97,145,150],"complex":[83],"case,":[86],"where":[87,153],"robotic":[89],"assembles":[91],"explosive":[92],"charges":[93],"places":[95],"them":[96],"holes":[98],"rock":[101],"face.":[102],"main":[104],"result":[105],"even":[111],"if":[112],"it":[113],"possible":[115],"model":[117],"entire":[119],"BT,":[123],"combining":[124],"can":[128],"increase":[129],"readability":[131],"maintainability":[133],"system.":[136],"benefit":[138],"such":[140],"combination":[141],"remarked":[143],"especially":[144],"case":[148],"studied":[149],"this":[151],"paper,":[152],"full":[155],"cannot":[157],"run":[158],"autonomously":[159],"but":[160],"human":[161],"supervision":[162],"feedback":[164],"needed.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2024-10-24T00:00:00"}
