{"id":"https://openalex.org/W4383108610","doi":"https://doi.org/10.1109/icra48891.2023.10160972","title":"On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications","display_name":"On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108610","doi":"https://doi.org/10.1109/icra48891.2023.10160972"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5008610224","display_name":"Matteo Iovino","orcid":"https://orcid.org/0000-0002-6119-6399"},"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":"Matteo Iovino","raw_affiliation_strings":["ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden","Division of Robotics, Perception and Learning, KTH - Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden","institution_ids":[]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH - Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065770056","display_name":"Julian F\u00f6rster","orcid":"https://orcid.org/0000-0002-1163-1065"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Julian F\u00f6rster","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076700669","display_name":"Pietro Falco","orcid":"https://orcid.org/0000-0003-1133-0884"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pietro Falco","raw_affiliation_strings":["ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research,V&#x00E4;ster&#x00E5;s,Sweden","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","School of ITEE, The University of Queensland, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]},{"raw_affiliation_string":"School of ITEE, The University of Queensland, Australia","institution_ids":["https://openalex.org/I165143802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060213000","display_name":"Christian Smith","orcid":"https://orcid.org/0000-0003-2078-8854"},"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":"Christian Smith","raw_affiliation_strings":["KTH - Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","Division of Robotics, Perception and Learning, KTH - Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH - Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH - Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.7317,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.95947576,"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":"5807","last_page":"5813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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":0.998199999332428,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9864000082015991,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9779999852180481,"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/finite-state-machine","display_name":"Finite-state machine","score":0.7683647274971008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7661303281784058},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.6123017072677612},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5981876850128174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5261504054069519},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5155970454216003},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4860416054725647},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.36296460032463074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3510974645614624},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.30835211277008057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12934482097625732},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1144590675830841}],"concepts":[{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.7683647274971008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7661303281784058},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.6123017072677612},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5981876850128174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5261504054069519},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5155970454216003},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4860416054725647},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36296460032463074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3510974645614624},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.30835211277008057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12934482097625732},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1144590675830841},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3497780","is_oa":false,"landing_page_url":"https://hdl.handle.net/11577/3497780","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1530322589","https://openalex.org/W1965142824","https://openalex.org/W1994718921","https://openalex.org/W2037792107","https://openalex.org/W2039918963","https://openalex.org/W2132022337","https://openalex.org/W2166963499","https://openalex.org/W2289021422","https://openalex.org/W2294712518","https://openalex.org/W2548961765","https://openalex.org/W2567075875","https://openalex.org/W2753034999","https://openalex.org/W2888960417","https://openalex.org/W3024044737","https://openalex.org/W3044207482","https://openalex.org/W3082488836","https://openalex.org/W3100516791","https://openalex.org/W3105836502","https://openalex.org/W3123293341","https://openalex.org/W3138524621","https://openalex.org/W3157485280","https://openalex.org/W3173210258","https://openalex.org/W3177582830","https://openalex.org/W3198931217","https://openalex.org/W3207757748","https://openalex.org/W4313563147","https://openalex.org/W4366668639","https://openalex.org/W6789211778"],"related_works":["https://openalex.org/W4230687177","https://openalex.org/W1968829728","https://openalex.org/W2349859869","https://openalex.org/W2051365847","https://openalex.org/W2367249529","https://openalex.org/W3120118008","https://openalex.org/W2088885441","https://openalex.org/W4214765864","https://openalex.org/W1943342825","https://openalex.org/W3014744767"],"abstract_inverted_index":{"In":[0,33,139],"this":[1,140],"paper":[2],"we":[3,142],"provide":[4],"a":[5,13,22,28,40,92,111,148,165,170,174],"practical":[6],"demonstration":[7],"of":[8,68,78,98,128,151,167],"how":[9],"the":[10,18,36,52,60,66,96,102,119,126,129,133,155,162],"modularity":[11],"in":[12,20,59,76,90,95,114,169],"Behavior":[14],"Tree":[15],"(BT)":[16],"decreases":[17],"effort":[19,104],"programming":[21,103],"robot":[23],"task":[24,41],"when":[25],"compared":[26,71],"to":[27,38,43,72,106,136,157],"Finite":[29],"State":[30],"Machine":[31],"(FSM).":[32],"recent":[34],"years":[35],"way":[37],"represent":[39],"plan":[42],"control":[44],"an":[45,178],"autonomous":[46],"agent":[47],"has":[48],"been":[49],"shifting":[50],"from":[51],"standard":[53,73],"FSM":[54],"towards":[55],"BTs.":[56],"Many":[57],"works":[58,86],"literature":[61],"have":[62,87],"highlighted":[63],"and":[64,81,101,131],"proven":[65],"benefits":[67],"such":[69],"design":[70,120,150],"approaches,":[74],"especially":[75],"terms":[77],"modularity,":[79],"reactivity":[80],"human":[82],"readability.":[83],"However,":[84],"these":[85],"often":[88],"failed":[89],"providing":[91],"tangible":[93],"comparison":[94],"implementation":[97],"those":[99],"policies":[100],"required":[105,135],"modify":[107,158],"them.":[108,159],"This":[109],"is":[110,122],"relevant":[112],"aspect":[113],"many":[115],"robotic":[116],"applications,":[117],"where":[118,173],"choice":[121],"dictated":[123],"both":[124],"by":[125,132,153],"robustness":[127],"policy":[130],"time":[134],"program":[137],"it.":[138],"work,":[141],"compare":[143],"backward":[144],"chained":[145],"BTs":[146],"with":[147,164],"fault-tolerant":[149],"FSMs":[152],"evaluating":[154],"cost":[156],"We":[160],"validate":[161],"analysis":[163],"set":[166],"experiments":[168],"simulation":[171],"environment":[172],"mobile":[175],"manipulator":[176],"solves":[177],"item":[179],"fetching":[180],"task.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
