{"id":"https://openalex.org/W4297019157","doi":"https://doi.org/10.1080/01691864.2022.2115316","title":"Robot behavior debugger for non-expert users in convenience stores using behavior trees","display_name":"Robot behavior debugger for non-expert users in convenience stores using behavior trees","publication_year":2022,"publication_date":"2022-09-17","ids":{"openalex":"https://openalex.org/W4297019157","doi":"https://doi.org/10.1080/01691864.2022.2115316"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2022.2115316","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2115316","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089767628","display_name":"Pattaraporn Tulathum","orcid":"https://orcid.org/0000-0003-2687-3881"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Pattaraporn Tulathum","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2687-3881","affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014927296","display_name":"Bunyapon Usawalertkamol","orcid":"https://orcid.org/0000-0002-3181-7713"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Bunyapon Usawalertkamol","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3181-7713","affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037692282","display_name":"Gustavo Alfonso Garcia Ricardez","orcid":"https://orcid.org/0000-0001-6518-577X"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gustavo Alfonso Garcia Ricardez","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan","Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6518-577X","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","Microsoft, Redmond, USA"],"raw_orcid":"https://orcid.org/0000-0001-7457-2878","affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Microsoft, Redmond, USA","institution_ids":["https://openalex.org/I1290206253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Ogasawara","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9767-6039","affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011588138","display_name":"Kenichi Matsumoto","orcid":"https://orcid.org/0000-0002-7418-9323"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenichi Matsumoto","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7418-9323","affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Ikoma, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089767628"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.5249,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7076812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"36","issue":"17-18","first_page":"951","last_page":"966"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9969000220298767,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9969000220298767,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9898999929428101,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/debugger","display_name":"Debugger","score":0.807600736618042},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.8074456453323364},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.663166344165802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6486862897872925},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6202395558357239},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5550817251205444},{"id":"https://openalex.org/keywords/expert-system","display_name":"Expert system","score":0.5275178551673889},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.47595521807670593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3196038007736206},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.14053520560264587}],"concepts":[{"id":"https://openalex.org/C2778485113","wikidata":"https://www.wikidata.org/wiki/Q193231","display_name":"Debugger","level":3,"score":0.807600736618042},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.8074456453323364},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.663166344165802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6486862897872925},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6202395558357239},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5550817251205444},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.5275178551673889},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.47595521807670593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3196038007736206},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.14053520560264587}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2022.2115316","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2115316","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/8"}],"awards":[{"id":"https://openalex.org/G3302257970","display_name":"\u8ab0\u3082\u304c\u81ea\u5728\u306b\u6d3b\u8e8d\u3067\u304d\u308b\u30a2\u30d0\u30bf\u30fc\u5171\u751f\u793e\u4f1a\u306e\u5b9f\u73fe","funder_award_id":"JPMJMS2011","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"}],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W591743112","https://openalex.org/W1519063672","https://openalex.org/W1987464737","https://openalex.org/W1998265754","https://openalex.org/W2024986232","https://openalex.org/W2032191478","https://openalex.org/W2042950801","https://openalex.org/W2079484991","https://openalex.org/W2129244630","https://openalex.org/W2171246729","https://openalex.org/W2284072287","https://openalex.org/W2550336733","https://openalex.org/W2773249613","https://openalex.org/W2786318395","https://openalex.org/W2794673032","https://openalex.org/W2963513937","https://openalex.org/W2963821855","https://openalex.org/W2972544311","https://openalex.org/W2978077952","https://openalex.org/W3049668354","https://openalex.org/W3145123113","https://openalex.org/W3181806592","https://openalex.org/W4220859184","https://openalex.org/W4312362817"],"related_works":["https://openalex.org/W2800641345","https://openalex.org/W2886673879","https://openalex.org/W564953056","https://openalex.org/W2061184006","https://openalex.org/W2381239448","https://openalex.org/W4236910510","https://openalex.org/W2092932442","https://openalex.org/W2543963479","https://openalex.org/W1751798423","https://openalex.org/W2583000271"],"abstract_inverted_index":{"As":[0],"the":[1,22,42,45,63,76,79,110,138,146,170,194,206,211],"problematic":[2],"consequence":[3],"of":[4,44,53,148,183],"an":[5],"aging":[6],"society,":[7],"with":[8,95,152],"increasing":[9],"labor":[10],"shortage,":[11],"there":[12,61],"is":[13,33,62],"a":[14,37,66,85,100,142,201],"need":[15,64],"for":[16,65,92],"service":[17],"robots":[18],"to":[19,35,68,72,108,120,159,191,210],"efficiently":[20],"support":[21],"works":[23],"in":[24,57],"many":[25],"places":[26],"such":[27],"as":[28],"convenience":[29,172],"stores.":[30],"However,":[31],"it":[32],"difficult":[34],"program":[36],"robot":[38,58,80,88,111,130,139],"behavior":[39,89,112],"and":[40,55,74,99,133,165],"meet":[41],"needs":[43],"shop":[46],"staff":[47],"(i.e.":[48,163],"non-expert":[49,70,93,118,154,184],"users":[50,71,94,103,119,155,185],"who":[51],"lack":[52],"knowledge":[54],"experience":[56],"programming).":[59],"Hence,":[60],"system":[67,91,151,198],"help":[69],"identify":[73],"fix":[75],"issues":[77],"within":[78],"behaviors.":[81],"This":[82],"paper":[83],"proposes":[84],"Behavior":[86,167],"Tree-based":[87],"creation":[90],"four":[96],"debugging":[97,150,189],"features":[98,190],"simulator.":[101,143],"Non-expert":[102],"can":[104,135,186],"use":[105,121],"drag-and-drop":[106],"composition":[107],"create":[109],"program.":[113],"Moreover,":[114],"our":[115,149,188,197],"debugger":[116],"allows":[117],"breakpoints,":[122],"log":[123],"node":[124,127],"status,":[125],"monitor":[126],"execution,":[128],"show":[129,178],"status":[131],"variables,":[132],"also":[134],"visually":[136],"verify":[137],"behaviors":[140],"via":[141],"We":[144],"evaluate":[145],"effectiveness":[147],"14":[153],"by":[156],"asking":[157],"them":[158],"solve":[160],"three":[161],"tasks":[162],"creating":[164],"fixing":[166],"Trees)":[168],"from":[169,205],"given":[171],"store":[173],"scenario.":[174],"The":[175],"experimental":[176],"results":[177],"that":[179],"more":[180],"than":[181],"70%":[182],"utilize":[187],"finish":[192],"all":[193],"tasks.":[195],"Additionally,":[196],"usability":[199],"has":[200],"high":[202],"marginal":[203],"level":[204],"subjects'":[207],"perspective":[208],"according":[209],"System":[212],"Usability":[213],"Scale":[214],"(SUS).":[215]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
