{"id":"https://openalex.org/W2548961765","doi":"https://doi.org/10.1109/icra.2019.8794128","title":"Towards Blended Reactive Planning and Acting using Behavior Trees","display_name":"Towards Blended Reactive Planning and Acting using Behavior Trees","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2548961765","doi":"https://doi.org/10.1109/icra.2019.8794128","mag":"2548961765"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1611.00230","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Michele Colledanchise","orcid":null},"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":"Michele Colledanchise","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia - IIT, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia - IIT, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Diogo Almeida","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":"Diogo Almeida","raw_affiliation_strings":["KTH - Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH - Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":null,"display_name":"Petter Ogren","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":"Petter Ogren","raw_affiliation_strings":["KTH - Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH - Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.3505,"has_fulltext":false,"cited_by_count":98,"citation_normalized_percentile":{"value":0.96447031,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8839","last_page":"8845"},"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":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9959999918937683,"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/robot","display_name":"Robot","score":0.7145000100135803},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6574000120162964},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5519999861717224},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5515000224113464},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4982999861240387},{"id":"https://openalex.org/keywords/automated-planning-and-scheduling","display_name":"Automated planning and scheduling","score":0.43220001459121704}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7145000100135803},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6574000120162964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6197999715805054},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5519999861717224},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5515000224113464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5317999720573425},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4982999861240387},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.43220001459121704},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.39899998903274536},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3231000006198883},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32249999046325684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29510000348091125},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2799000144004822},{"id":"https://openalex.org/C2777909354","wikidata":"https://www.wikidata.org/wiki/Q1386523","display_name":"Production planning","level":3,"score":0.27250000834465027},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27239999175071716}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8794128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1611.00230","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1611.00230","pdf_url":"https://arxiv.org/pdf/1611.00230","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"pmh:oai:DiVA.org:kth-248671","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-248671","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:arXiv.org:1611.00230","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1611.00230","pdf_url":"https://arxiv.org/pdf/1611.00230","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1475741780","https://openalex.org/W1531267695","https://openalex.org/W1588269491","https://openalex.org/W1608608607","https://openalex.org/W1964478285","https://openalex.org/W1982511065","https://openalex.org/W1990524978","https://openalex.org/W1994005705","https://openalex.org/W2001680357","https://openalex.org/W2032583169","https://openalex.org/W2041753526","https://openalex.org/W2057408106","https://openalex.org/W2070683816","https://openalex.org/W2131358719","https://openalex.org/W2141825555","https://openalex.org/W2141841102","https://openalex.org/W2143602574","https://openalex.org/W2148933384","https://openalex.org/W2163299954","https://openalex.org/W2169678971","https://openalex.org/W2207352740","https://openalex.org/W2291853497","https://openalex.org/W2479648088","https://openalex.org/W2567075875","https://openalex.org/W2569179089","https://openalex.org/W2773249613","https://openalex.org/W2900518191","https://openalex.org/W2902029771","https://openalex.org/W2909728541","https://openalex.org/W2909851421","https://openalex.org/W2912379530","https://openalex.org/W2963346735","https://openalex.org/W3005302031","https://openalex.org/W4232217679","https://openalex.org/W6628720297","https://openalex.org/W6687942395","https://openalex.org/W6744292694","https://openalex.org/W6754964327","https://openalex.org/W6785668086"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,47],"show":[4],"how":[5],"a":[6,17,22,25,44,92],"planning":[7,29,90],"algorithm":[8,33],"can":[9],"be":[10],"used":[11],"to":[12,51,67,98,101],"automatically":[13],"create":[14],"and":[15,55,81,89,117],"update":[16],"Behavior":[18],"Tree":[19],"(BT),":[20],"controlling":[21],"robot":[23,97,112],"in":[24,70,91,137],"dynamic":[26],"environment.":[27],"The":[28,74],"part":[30],"of":[31,39],"the":[32,37,71,84,96,111,123,127],"is":[34],"based":[35],"on":[36],"idea":[38],"back":[40],"chaining.":[41],"Starting":[42],"from":[43],"goal":[45],"condition":[46],"iteratively":[48],"select":[49],"actions":[50,58,66],"achieve":[52,68],"that":[53,76,94],"goal,":[54],"if":[56,118],"those":[57],"have":[59],"unmet":[60],"preconditions,":[61],"they":[62],"are":[63,78],"extended":[64],"with":[65],"them":[69],"same":[72],"way.":[73],"fact":[75],"BTs":[77],"inherently":[79],"modular":[80],"reactive":[82],"makes":[83],"proposed":[85],"solution":[86],"blend":[87],"acting":[88],"way":[93],"enables":[95],"effectively":[99],"react":[100],"external":[102,106,120],"disturbances.":[103],"If":[104],"an":[105,109,119],"agent":[107,121],"undoes":[108],"action":[110],"reexecutes":[113],"it":[114,125],"without":[115,131],"re-planning,":[116],"helps":[122],"robot,":[124],"skips":[126],"corresponding":[128],"actions,":[129],"again":[130],"replanning.":[132],"We":[133],"illustrate":[134],"our":[135],"approach":[136],"two":[138],"different":[139],"robotics":[140],"scenarios.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-11-11T00:00:00"}
