{"id":"https://openalex.org/W4416750448","doi":"https://doi.org/10.1109/iros60139.2025.11245939","title":"Autonomous Subtask Generation for Indoor Search and Rescue Mission via Large-Language-Model and Behavior-Tree Integration","display_name":"Autonomous Subtask Generation for Indoor Search and Rescue Mission via Large-Language-Model and Behavior-Tree Integration","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750448","doi":"https://doi.org/10.1109/iros60139.2025.11245939"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101188476","display_name":"Junfeng Shi","orcid":"https://orcid.org/0009-0003-7775-3406"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Shi","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608030","display_name":"Kaihong Huang","orcid":"https://orcid.org/0000-0002-2424-8524"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaihong Huang","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101246452","display_name":"Hainan Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hainan Pan","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101880898","display_name":"Junpeng Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Xu","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029588255","display_name":"Chuang Cheng","orcid":"https://orcid.org/0000-0003-2316-1432"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Cheng","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hui Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16710","last_page":"16716"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5637999773025513,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5637999773025513,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.15629999339580536,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.05270000174641609,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.710099995136261},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.6340000033378601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5612999796867371},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.43389999866485596},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.38359999656677246},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3149000108242035}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.710099995136261},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.6340000033378601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6187000274658203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5612999796867371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44859999418258667},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.43389999866485596},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3093999922275543},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2976999878883362},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2833000123500824},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.27900001406669617},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.2648000121116638},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2556000053882599},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2533999979496002}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2799002257","https://openalex.org/W3007769740","https://openalex.org/W3093916756","https://openalex.org/W3132475407","https://openalex.org/W3145123113","https://openalex.org/W4401414394","https://openalex.org/W4401416807","https://openalex.org/W4402862324","https://openalex.org/W4405785466","https://openalex.org/W4405785920"],"related_works":[],"abstract_inverted_index":{"The":[0,123],"ability":[1],"of":[2,32,46,94],"autonomous":[3],"subtask":[4],"generation":[5],"is":[6,126],"important":[7],"for":[8,105],"robots":[9],"to":[10,59,78,111],"effectively":[11,101],"cope":[12],"with":[13,70,120],"unforeseen":[14],"situations":[15],"during":[16],"indoor":[17],"search":[18,106,113],"and":[19,50,63,107],"rescue":[20,34,108],"missions.":[21],"While":[22],"prior":[23],"work":[24],"mainly":[25],"focused":[26],"on":[27],"improving":[28],"individual":[29],"low-level":[30],"skills":[31],"the":[33,47,76],"robot,":[35],"this":[36],"paper":[37],"proposes":[38],"AutoExpand:":[39],"a":[40,112],"high-level":[41],"framework":[42],"that":[43,98],"takes":[44],"advantage":[45],"extensive":[48],"knowledge":[49],"reasoning":[51],"abilities":[52],"inherent":[53],"in":[54],"large":[55],"language":[56],"models":[57],"(LLM)":[58],"understand":[60],"human":[61,87],"instructions":[62],"environmental":[64],"situation.":[65],"Through":[66],"tight":[67],"coupling":[68],"LLM":[69],"behavior":[71],"tree,":[72],"our":[73],"method":[74],"enables":[75],"robot":[77],"autonomously":[79],"generate":[80,102],"reactive":[81],"context-aware":[82],"operational":[83],"subtasks":[84],"on-site":[85],"without":[86],"intervention":[88],"or":[89],"additional":[90],"training.":[91],"A":[92],"series":[93],"real-world":[95],"experiments":[96],"demonstrate":[97],"AutoExpand":[99],"can":[100],"appropriate":[103],"tasks":[104],"missions,":[109],"leading":[110],"scope":[114],"increased":[115],"by":[116],"34.45%":[117],"when":[118],"compared":[119],"traditional":[121],"methods.":[122],"sample":[124],"code":[125],"available":[127],"at":[128],"https://github.com/nubot-nudt/AutoExpand.":[129]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}