{"id":"https://openalex.org/W2000360858","doi":"https://doi.org/10.1109/icar.2013.6766466","title":"A port-arbitrated mechanism for behavior selection in humanoid robotics","display_name":"A port-arbitrated mechanism for behavior selection in humanoid robotics","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2000360858","doi":"https://doi.org/10.1109/icar.2013.6766466","mag":"2000360858"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2013.6766466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2013.6766466","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 16th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5074928236","display_name":"Ali Paikan","orcid":"https://orcid.org/0000-0002-8088-5501"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ali Paikan","raw_affiliation_strings":["iCub Facility Istituto Italiano di Tecnologia Via Morego, Genoa, Italy","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility Istituto Italiano di Tecnologia Via Morego, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["iCub Facility Istituto Italiano di Tecnologia Via Morego, Genoa, Italy","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility Istituto Italiano di Tecnologia Via Morego, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["iCub Facility Istituto Italiano di Tecnologia Via Morego, Genoa, Italy","iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility Istituto Italiano di Tecnologia Via Morego, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":5.7037,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96469248,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"20","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10949","display_name":"Genetic Neurodegenerative Diseases","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10949","display_name":"Genetic Neurodegenerative Diseases","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9652000069618225,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10919","display_name":"Neurological disorders and treatments","score":0.9510999917984009,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.8740159273147583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7394437193870544},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6369917392730713},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.5693743228912354},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5690822005271912},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.5447966456413269},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5231274962425232},{"id":"https://openalex.org/keywords/composability","display_name":"Composability","score":0.5169879198074341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5018723011016846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47610577940940857},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.46978703141212463},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4494016170501709},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4444766938686371},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3399776220321655},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3246026635169983},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.22343531250953674}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.8740159273147583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7394437193870544},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6369917392730713},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.5693743228912354},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5690822005271912},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.5447966456413269},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5231274962425232},{"id":"https://openalex.org/C2778814252","wikidata":"https://www.wikidata.org/wiki/Q5156715","display_name":"Composability","level":2,"score":0.5169879198074341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5018723011016846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47610577940940857},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.46978703141212463},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4494016170501709},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4444766938686371},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3399776220321655},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3246026635169983},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.22343531250953674},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2013.6766466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2013.6766466","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 16th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1539407666","https://openalex.org/W1787255075","https://openalex.org/W1971753624","https://openalex.org/W1972221381","https://openalex.org/W1989785701","https://openalex.org/W2003400137","https://openalex.org/W2023837733","https://openalex.org/W2027786130","https://openalex.org/W2054010227","https://openalex.org/W2080267935","https://openalex.org/W2085498579","https://openalex.org/W2087959816","https://openalex.org/W2093556213","https://openalex.org/W2100119371","https://openalex.org/W2109941442","https://openalex.org/W2110525007","https://openalex.org/W2141112954","https://openalex.org/W2148033465","https://openalex.org/W2148225155","https://openalex.org/W2397253692","https://openalex.org/W4206393329","https://openalex.org/W6632216793","https://openalex.org/W6643319027","https://openalex.org/W6675759124","https://openalex.org/W6680799288"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2772957955","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W3106073779","https://openalex.org/W2198321481"],"abstract_inverted_index":{"Software":[0],"engineering":[1],"and":[2,7,12,29,149,166],"best":[3],"practices":[4],"promote":[5],"modularity":[6],"composability":[8],"to":[9,33,45,67,86],"reduce":[10],"debugging":[11],"development":[13],"time":[14],"of":[15,26,54,144],"software":[16],"applications":[17],"in":[18,164],"robotics.":[19],"This":[20,106],"approach,":[21],"however,":[22],"increases":[23],"the":[24,27,30,40,52,101,126,142,173],"complexity":[25],"system":[28],"effort":[31],"needed":[32],"properly":[34,98],"coordinate":[35],"interactions":[36],"between":[37,132],"modules.":[38,76,158],"On":[39],"other":[41],"hand":[42],"programming":[43,65],"robots":[44],"cope":[46],"with":[47,100],"an":[48],"unstructured":[49],"environment":[50],"requires":[51],"implementation":[53],"highly":[55],"reactive":[56,71,114],"systems.":[57],"Behavior-based":[58],"architectures":[59],"have":[60],"been":[61],"proposed":[62,160],"as":[63],"a":[64,91,109,169],"paradigm":[66],"build":[68],"complex,":[69],"yet,":[70],"systems":[72,115],"by":[73,116],"integrating":[74],"simpler":[75],"They":[77],"require":[78],"however":[79],"that":[80,103,128],"modules":[81,133],"establish":[82],"special":[83],"connections":[84,127],"dedicated":[85],"carry":[87,104],"coordination":[88,148],"signals.":[89],"In":[90,121],"distributed":[92,119],"architecture":[93,161],"these":[94],"signals":[95],"must":[96],"be":[97,153],"synchronized":[99],"ones":[102],"data.":[105],"article":[107],"proposes":[108],"novel":[110],"method":[111],"for":[112,135,147],"developing":[113],"coordinating":[117],"concurrent,":[118],"behaviors.":[120],"our":[122],"approach":[123],"arbitration":[124],"exploits":[125],"deliver":[129],"data":[130],"messages":[131],"and,":[134],"this":[136],"reason,":[137],"i)":[138],"it":[139,151],"intrinsically":[140],"reduces":[141],"number":[143],"links":[145],"required":[146],"ii)":[150],"can":[152],"built":[154],"without":[155],"changing":[156],"existing":[157],"The":[159],"is":[162],"discussed":[163],"detail":[165],"tested":[167],"on":[168,172],"real":[170],"scenario":[171],"iCub":[174],"humanoid":[175],"robot.":[176]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
