{"id":"https://openalex.org/W2115409846","doi":"https://doi.org/10.1109/icra.2014.6907328","title":"Performance analysis of stochastic behavior trees","display_name":"Performance analysis of stochastic behavior trees","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2115409846","doi":"https://doi.org/10.1109/icra.2014.6907328","mag":"2115409846"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-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/A5047750218","display_name":"Michele Colledanchise","orcid":"https://orcid.org/0000-0003-0289-7424"},"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":"Michele Colledanchise","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017630026","display_name":"Alejandro Marzinotto","orcid":null},"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":"Alejandro Marzinotto","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","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":["Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.3429,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.97544429,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3265","last_page":"3272"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9990000128746033,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9972000122070312,"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.9833999872207642,"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/computer-science","display_name":"Computer science","score":0.8076590895652771},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6693570017814636},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6404544711112976},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.6169272661209106},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.5981203317642212},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5788938999176025},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.560564398765564},{"id":"https://openalex.org/keywords/tree-structure","display_name":"Tree structure","score":0.49360334873199463},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.47242844104766846},{"id":"https://openalex.org/keywords/reusability","display_name":"Reusability","score":0.45712465047836304},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.44568032026290894},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.43085721135139465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42464709281921387},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4226982593536377},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3502139151096344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2689708471298218},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2484917938709259},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.23189777135849},{"id":"https://openalex.org/keywords/binary-tree","display_name":"Binary tree","score":0.15964975953102112},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.14173462986946106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12209942936897278}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8076590895652771},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6693570017814636},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6404544711112976},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.6169272661209106},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.5981203317642212},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5788938999176025},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.560564398765564},{"id":"https://openalex.org/C163797641","wikidata":"https://www.wikidata.org/wiki/Q2067937","display_name":"Tree structure","level":3,"score":0.49360334873199463},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.47242844104766846},{"id":"https://openalex.org/C137981799","wikidata":"https://www.wikidata.org/wiki/Q1369184","display_name":"Reusability","level":3,"score":0.45712465047836304},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.44568032026290894},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.43085721135139465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42464709281921387},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4226982593536377},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3502139151096344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2689708471298218},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2484917938709259},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.23189777135849},{"id":"https://openalex.org/C197855036","wikidata":"https://www.wikidata.org/wiki/Q380172","display_name":"Binary tree","level":2,"score":0.15964975953102112},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.14173462986946106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12209942936897278},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6907328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.719.7728","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.719.7728","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cas.kth.se/%7Epetter/Publications/ICRA14_cmo.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W51086040","https://openalex.org/W193479296","https://openalex.org/W1524728167","https://openalex.org/W1608608607","https://openalex.org/W1963549352","https://openalex.org/W1982511065","https://openalex.org/W2027779879","https://openalex.org/W2032583169","https://openalex.org/W2171246729"],"related_works":["https://openalex.org/W4282938614","https://openalex.org/W2906929912","https://openalex.org/W2350686889","https://openalex.org/W1965839502","https://openalex.org/W2099755394","https://openalex.org/W2621742671","https://openalex.org/W2114764029","https://openalex.org/W4245251736","https://openalex.org/W4242697240","https://openalex.org/W2970353240"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15,38,49,175],"mathematical":[4],"framework":[5],"for":[6,23,70,174],"performance":[7,61,93],"analysis":[8],"of":[9,42,48,95,121,130,171],"Behavior":[10,84],"Trees":[11,85],"(BTs).":[12],"BTs":[13],"are":[14,54,100],"recent":[16],"alternative":[17],"to":[18,114,124,136,149],"Finite":[19],"State":[20],"Machines":[21],"(FSMs),":[22],"doing":[24],"modular":[25],"task":[26,153],"switching":[27,35],"in":[28,37,45],"robot":[29],"control":[30],"architectures.":[31],"By":[32],"encoding":[33],"the":[34,46,91,96,122,125,131,144,150,172],"logic":[36],"tree":[39,123,132],"structure,":[40],"instead":[41],"distributing":[43],"it":[44],"states":[47],"FSM,":[50],"modularity":[51],"and":[52,67,73,166],"reusability":[53],"improved.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59,80,88,156],"compute":[60],"measures,":[62],"such":[63,141],"as":[64],"success/failure":[65],"probabilities":[66],"execution":[68],"times,":[69],"plans":[71],"encoded":[72],"executed":[74],"by":[75,138],"BTs.":[76],"To":[77],"do":[78],"this,":[79],"first":[81],"introduce":[82],"Stochastic":[83],"(SBT),":[86],"where":[87],"assume":[89],"that":[90],"probabilistic":[92],"measures":[94,117],"basic":[97],"action":[98,147],"controllers":[99],"given.":[101],"We":[102],"then":[103,133],"show":[104],"how":[105],"Discrete":[106],"Time":[107],"Markov":[108],"Chains":[109],"(DTMC)":[110],"can":[111],"be":[112],"used":[113],"aggregate":[115],"these":[116],"from":[118,143],"one":[119],"level":[120],"next.":[126],"The":[127],"recursive":[128],"structure":[129],"enables":[134],"us":[135],"step":[137,139],"propagate":[140],"estimates":[142],"leaves":[145],"(basic":[146],"controllers)":[148],"root":[151],"(complete":[152],"execution).":[154],"Finally,":[155],"verify":[157],"our":[158],"analytical":[159],"results":[160,173],"using":[161],"massive":[162],"Monte":[163],"Carlo":[164],"simulations,":[165],"provide":[167],"an":[168],"illustrative":[169],"example":[170],"complex":[176],"robotic":[177],"task.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}