{"id":"https://openalex.org/W3176282810","doi":"https://doi.org/10.1109/iros51168.2021.9636129","title":"Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies","display_name":"Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3176282810","doi":"https://doi.org/10.1109/iros51168.2021.9636129","mag":"3176282810"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636129","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2106.12474","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/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":["Istituto Italiano di Tecnologia, Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053375669","display_name":"Giuseppe Cicala","orcid":"https://orcid.org/0000-0001-6389-3967"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Cicala","raw_affiliation_strings":["DIBRIS, Universit\u00e0 degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universit\u00e0 degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075073486","display_name":"Daniele E. Domenichelli","orcid":"https://orcid.org/0000-0001-9765-0875"},"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":"Daniele E. Domenichelli","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","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":["Istituto Italiano di Tecnologia, Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067087113","display_name":"Armando Tacchella","orcid":"https://orcid.org/0000-0001-9487-331X"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Armando Tacchella","raw_affiliation_strings":["DIBRIS, Universit\u00e0 degli Studi di Genova"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIBRIS, Universit\u00e0 degli Studi di Genova","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0481,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.95190581,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9841","last_page":"9848"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9993000030517578,"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":0.9993000030517578,"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9987000226974487,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9987000226974487,"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":0.8701668977737427},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.6561861634254456},{"id":"https://openalex.org/keywords/runtime-verification","display_name":"Runtime verification","score":0.6053290963172913},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5409536957740784},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5294822454452515},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.468011736869812},{"id":"https://openalex.org/keywords/formal-verification","display_name":"Formal verification","score":0.45178186893463135},{"id":"https://openalex.org/keywords/model-checking","display_name":"Model checking","score":0.44514769315719604},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3755371570587158},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3420577645301819},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.22879666090011597}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8701668977737427},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.6561861634254456},{"id":"https://openalex.org/C202973057","wikidata":"https://www.wikidata.org/wiki/Q7380130","display_name":"Runtime verification","level":3,"score":0.6053290963172913},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5409536957740784},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5294822454452515},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.468011736869812},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.45178186893463135},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.44514769315719604},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3755371570587158},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3420577645301819},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.22879666090011597},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros51168.2021.9636129","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636129","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2106.12474","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.12474","pdf_url":"https://arxiv.org/pdf/2106.12474","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:iris.unige.it:11567/1094839","is_oa":true,"landing_page_url":"https://hdl.handle.net/11567/1094839","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2106.12474","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.12474","pdf_url":"https://arxiv.org/pdf/2106.12474","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W1593428110","https://openalex.org/W2030263557","https://openalex.org/W2032583169","https://openalex.org/W2035134636","https://openalex.org/W2043100293","https://openalex.org/W2088017390","https://openalex.org/W2090669830","https://openalex.org/W2100119371","https://openalex.org/W2101623441","https://openalex.org/W2117189826","https://openalex.org/W2130169006","https://openalex.org/W2566716416","https://openalex.org/W2567075875","https://openalex.org/W2771357155","https://openalex.org/W2773249613","https://openalex.org/W2775819221","https://openalex.org/W2789501705","https://openalex.org/W2890809012","https://openalex.org/W2893725421","https://openalex.org/W2902029771","https://openalex.org/W2909728541","https://openalex.org/W2963346735","https://openalex.org/W2966579979","https://openalex.org/W2979980560","https://openalex.org/W2990523276","https://openalex.org/W3004224011","https://openalex.org/W3007469703","https://openalex.org/W3044207482","https://openalex.org/W3080629143","https://openalex.org/W3093255565","https://openalex.org/W3101076210","https://openalex.org/W3108746626","https://openalex.org/W3112010802","https://openalex.org/W3115959388","https://openalex.org/W3131597899","https://openalex.org/W3133018151","https://openalex.org/W3145123113","https://openalex.org/W3175764028","https://openalex.org/W4206027702","https://openalex.org/W4287684471","https://openalex.org/W6781849271"],"related_works":["https://openalex.org/W2406499533","https://openalex.org/W2037121848","https://openalex.org/W2809618173","https://openalex.org/W3036403349","https://openalex.org/W4312733571","https://openalex.org/W2149716943","https://openalex.org/W1968510839","https://openalex.org/W4315606162","https://openalex.org/W2006962382","https://openalex.org/W2528097415"],"abstract_inverted_index":{"In":[0],"this":[1,44],"paper,":[2],"we":[3,46],"enable":[4,35],"automated":[5],"property":[6,85],"verification":[7,37],"of":[8,22,58,99,112],"deliberative":[9],"components":[10,66],"in":[11,61,77,115,122,139],"robot":[12,41,125],"control":[13],"architectures.":[14,80],"We":[15,81,95,128],"focus":[16],"on":[17,102,105],"formalizing":[18],"the":[19,72,106,110,137,140],"execution":[20],"context":[21],"Behavior":[23],"Trees":[24],"(BTs)":[25],"to":[26,34,71,88,135],"provide":[27,130],"a":[28,48,83,97,116,123],"scalable,":[29],"yet":[30],"formally":[31],"grounded,":[32],"methodology":[33],"runtime":[36,93],"and":[38,55,64,68,91,104,119],"prevent":[39],"unexpected":[40],"behaviors.":[42],"To":[43],"end,":[45],"consider":[47],"message-passing":[49],"model":[50],"that":[51],"accommodates":[52],"both":[53,101],"synchronous":[54],"asynchronous":[56],"composition":[57],"parallel":[59],"components,":[60],"which":[62],"BTs":[63],"other":[65],"execute":[67],"interact":[69],"according":[70],"communication":[73],"patterns":[74],"commonly":[75],"adopted":[76],"robotic":[78],"software":[79,126],"introduce":[82],"formal":[84],"specification":[86],"language":[87],"encode":[89],"requirements":[90],"build":[92],"monitors.":[94],"performed":[96],"set":[98],"experiments,":[100],"simulations":[103],"real":[107],"robot,":[108],"demonstrating":[109],"feasibility":[111],"our":[113],"approach":[114],"realistic":[117],"application":[118],"its":[120],"integration":[121],"typical":[124],"architecture.":[127],"also":[129],"an":[131],"OS-level":[132],"virtualization":[133],"environment":[134],"reproduce":[136],"experiments":[138],"simulated":[141],"scenario.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2021-07-05T00:00:00"}