{"id":"https://openalex.org/W3080304219","doi":"https://doi.org/10.1109/cdc42340.2020.9304151","title":"Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions","display_name":"Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3080304219","doi":"https://doi.org/10.1109/cdc42340.2020.9304151","mag":"3080304219"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279459","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057300556","display_name":"\u00d6zer \u00d6zkahraman","orcid":"https://orcid.org/0000-0001-5656-0259"},"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":"Ozer Ozkahraman","raw_affiliation_strings":["KTH Royal Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"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":"Petter Ogren","raw_affiliation_strings":["KTH Royal Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology","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":1.6055,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.8161326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5275","last_page":"5282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/underwater","display_name":"Underwater","score":0.687917947769165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6840435266494751},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6488898992538452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6455003619194031},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5266011953353882},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5227489471435547},{"id":"https://openalex.org/keywords/battery-capacity","display_name":"Battery capacity","score":0.4928419589996338},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4620112478733063},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.39593178033828735},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38743817806243896},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33002591133117676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2311510443687439},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1762917935848236},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1251963973045349}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.687917947769165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6840435266494751},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6488898992538452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6455003619194031},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5266011953353882},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5227489471435547},{"id":"https://openalex.org/C2989104859","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery capacity","level":4,"score":0.4928419589996338},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4620112478733063},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.39593178033828735},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38743817806243896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33002591133117676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2311510443687439},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1762917935848236},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1251963973045349},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc42340.2020.9304151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-279459","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279459","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-279459","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279459","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1699699942","https://openalex.org/W1966089223","https://openalex.org/W2132714442","https://openalex.org/W2234962923","https://openalex.org/W2491042601","https://openalex.org/W2538808677","https://openalex.org/W2567075875","https://openalex.org/W2620840602","https://openalex.org/W2773249613","https://openalex.org/W2781971957","https://openalex.org/W2798791976","https://openalex.org/W2886854944","https://openalex.org/W2909851421","https://openalex.org/W2910178877","https://openalex.org/W2966735560","https://openalex.org/W2968945909","https://openalex.org/W2979251496","https://openalex.org/W2996109218","https://openalex.org/W3003735829","https://openalex.org/W3104880332","https://openalex.org/W6768478896","https://openalex.org/W6771484861"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2768611900","https://openalex.org/W4308964873","https://openalex.org/W2729780499","https://openalex.org/W2384016584","https://openalex.org/W2543699259","https://openalex.org/W1983017669","https://openalex.org/W3085364154","https://openalex.org/W3021292886"],"abstract_inverted_index":{"Robot":[0],"missions":[1],"typically":[2],"involve":[3],"a":[4,91,114],"number":[5],"of":[6,34,62,98,106],"desired":[7],"objectives,":[8],"such":[9,47,65],"as":[10,48,66],"avoiding":[11,49],"collisions,":[12],"staying":[13,52],"connected":[14],"to":[15,24,38,68,94],"other":[16],"robots,":[17],"gathering":[18],"information":[19],"using":[20],"sensors":[21],"and":[22,51,72,84],"returning":[23,67],"the":[25,29,44,63,69],"charging":[26,70],"station":[27,71],"before":[28],"battery":[30],"runs":[31],"out.":[32],"Some":[33],"these":[35],"objectives":[36],"need":[37],"be":[39,88],"taken":[40],"into":[41],"account":[42],"at":[43],"same":[45],"time,":[46],"collisions":[50],"connected,":[53],"while":[54],"others":[55],"are":[56],"focused":[57],"upon":[58],"during":[59],"different":[60],"parts":[61],"executions,":[64],"connectivity":[73],"maintenance.":[74],"In":[75],"this":[76],"paper,":[77],"we":[78],"show":[79],"how":[80],"Control":[81],"Barrier":[82],"Functions(CBFs)":[83],"Behavior":[85],"Trees(BTs)":[86],"can":[87],"combined":[89],"in":[90,104],"principled":[92],"manner":[93],"achieve":[95],"both":[96],"types":[97],"task":[99],"compositions,":[100],"with":[101,113],"performance":[102],"guarantees":[103],"terms":[105],"mission":[107],"completion.":[108],"We":[109],"illustrate":[110],"our":[111],"method":[112],"simulated":[115],"underwater":[116],"coverage":[117],"mission.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}