{"id":"https://openalex.org/W2538808677","doi":"https://doi.org/10.1109/iros.2016.7759089","title":"How Behavior Trees generalize the Teleo-Reactive paradigm and And-Or-Trees","display_name":"How Behavior Trees generalize the Teleo-Reactive paradigm and And-Or-Trees","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2538808677","doi":"https://doi.org/10.1109/iros.2016.7759089","mag":"2538808677"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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-194179","any_repository_has_fulltext":true},"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., KTH - Royal Institute of Technology, Stockhalm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., KTH - Royal Institute of Technology, Stockhalm, Sweden","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., KTH - Royal Institute of Technology, Stockhalm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., KTH - Royal Institute of Technology, Stockhalm, Sweden","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":3.5332,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.93916265,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"424","last_page":"429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10142","display_name":"Formal Methods in Verification","score":0.9979000091552734,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9926000237464905,"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/computer-science","display_name":"Computer science","score":0.6391249895095825},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.632267951965332},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5886374115943909},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5856219530105591},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5842204093933105},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.573637843132019},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49993252754211426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4926329255104065},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4397929310798645},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34090375900268555},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21567419171333313}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6391249895095825},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.632267951965332},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5886374115943909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5856219530105591},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5842204093933105},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.573637843132019},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49993252754211426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4926329255104065},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4397929310798645},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34090375900268555},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21567419171333313},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-194179","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-194179","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":"","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-194179","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-194179","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":"","raw_type":"Conference paper"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W603151","https://openalex.org/W51086040","https://openalex.org/W139389950","https://openalex.org/W193479296","https://openalex.org/W1507037584","https://openalex.org/W1524728167","https://openalex.org/W1531267695","https://openalex.org/W1588269491","https://openalex.org/W1646038686","https://openalex.org/W1699699942","https://openalex.org/W1963549352","https://openalex.org/W1982511065","https://openalex.org/W1988359980","https://openalex.org/W1994005705","https://openalex.org/W2032583169","https://openalex.org/W2044012307","https://openalex.org/W2115409846","https://openalex.org/W2130634122","https://openalex.org/W2328646735","https://openalex.org/W3021035068","https://openalex.org/W4232217679","https://openalex.org/W6605661232","https://openalex.org/W6630393837","https://openalex.org/W6636945615","https://openalex.org/W6689178480","https://openalex.org/W6927024089"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W2297646692"],"abstract_inverted_index":{"Behavior":[0],"Trees":[1],"(BTs)":[2],"is":[3,25,36],"a":[4,12,37,90,97,114,131],"way":[5],"of":[6,11,81,134],"organizing":[7],"the":[8,20,72,125],"switching":[9],"structure":[10],"control":[13,43,102],"system,":[14],"that":[15,62,86,119,124,142],"was":[16],"originally":[17],"developed":[18,148],"in":[19,30],"computer":[21],"gaming":[22],"industry":[23],"but":[24],"now":[26],"also":[27],"being":[28],"used":[29,52],"robotics.":[31],"The":[32],"Teleo-Reactive":[33],"programs":[34],"(TRs)":[35],"highly":[38],"cited":[39],"reactive":[40],"hierarchical":[41,101],"robot":[42],"approach":[44],"suggested":[45],"by":[46],"Nilsson":[47],"and":[48,83,104,145],"And-Or-Trees":[49,78],"are":[50,75,79,100,130],"trees":[51,80],"for":[53,149],"heuristic":[54],"problems":[55],"solving.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60,84,105,117],"show":[61,85,106,118],"BTs":[63],"generalize":[64],"TRs":[65,99,150],"as":[66,68,96,113],"well":[67],"And-Or-Trees,":[69],"even":[70],"though":[71],"two":[73],"concepts":[74],"quite":[76],"different.":[77],"conditions,":[82],"they":[87],"transform":[88],"into":[89],"feedback":[91],"execution":[92],"plan":[93],"when":[94],"written":[95,112],"BT.":[98,115],"structures,":[103],"how":[107],"every":[108],"TR":[109],"can":[110,151],"be":[111,128,152],"Furthermore,":[116],"so-called":[120,135],"Universal":[121],"TRs,":[122],"guaranteeing":[123],"goal":[126],"will":[127],"reached,":[129],"special":[132],"case":[133],"Finite":[136],"Time":[137],"Successful":[138],"BTs.":[139,155],"This":[140],"implies":[141],"many":[143],"designs":[144],"theoretical":[146],"results":[147],"applied":[153],"to":[154]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}