{"id":"https://openalex.org/W4416751182","doi":"https://doi.org/10.1109/iros60139.2025.11246793","title":"LLM-CBT: LLM-Driven Closed-Loop Behavior Tree Planning for Heterogeneous UAV-UGV Swarm Collaboration","display_name":"LLM-CBT: LLM-Driven Closed-Loop Behavior Tree Planning for Heterogeneous UAV-UGV Swarm Collaboration","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751182","doi":"https://doi.org/10.1109/iros60139.2025.11246793"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246793","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/A5101698599","display_name":"Yuanyuan Tian","orcid":"https://orcid.org/0000-0002-1119-1231"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Tian","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101042894","display_name":"Weilong Song","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weilong Song","raw_affiliation_strings":["China North Artificial Intelligence &#x0026; Innovation Research Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China North Artificial Intelligence &#x0026; Innovation Research Institute","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102364994","display_name":"Jinna Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinna Fu","raw_affiliation_strings":["Ocean College, Zhejiang University,Zhoushan,China,316021"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean College, Zhejiang University,Zhoushan,China,316021","institution_ids":["https://openalex.org/I31847773","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016516907","display_name":"Zhenhui Li","orcid":"https://orcid.org/0000-0001-7221-2588"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhui Li","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chenyu Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Fang","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101802051","display_name":"Linbo Wang","orcid":"https://orcid.org/0000-0003-0526-1990"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linbo Wang","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059443638","display_name":"Weimin Hu","orcid":"https://orcid.org/0000-0001-5801-7938"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanyang Hu","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005060223","display_name":"Yabo Liu","orcid":"https://orcid.org/0000-0001-6647-9817"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yabo Liu","raw_affiliation_strings":["Zhejiang University,College of Computer Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Computer Science and Technology","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3581","last_page":"3586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.350600004196167,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.350600004196167,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.3050000071525574,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.10830000042915344,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6334999799728394},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6182000041007996},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6074000000953674},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.501800000667572},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4422000050544739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4366999864578247},{"id":"https://openalex.org/keywords/tree-structure","display_name":"Tree structure","score":0.3788999915122986}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.757099986076355},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6334999799728394},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6182000041007996},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6074000000953674},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5127000212669373},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.501800000667572},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4422000050544739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4366999864578247},{"id":"https://openalex.org/C163797641","wikidata":"https://www.wikidata.org/wiki/Q2067937","display_name":"Tree structure","level":3,"score":0.3788999915122986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.375},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.34940001368522644},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.34529998898506165},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33329999446868896},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.32170000672340393},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29019999504089355},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246793","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1910406352","https://openalex.org/W2615547864","https://openalex.org/W2765463978","https://openalex.org/W2766863610","https://openalex.org/W2909728541","https://openalex.org/W2990523276","https://openalex.org/W3112341537","https://openalex.org/W3131597899","https://openalex.org/W3174106554","https://openalex.org/W3206602611","https://openalex.org/W4200408523","https://openalex.org/W4200425090","https://openalex.org/W4225103229","https://openalex.org/W4313563147","https://openalex.org/W4385211464","https://openalex.org/W4390238499","https://openalex.org/W4401414394","https://openalex.org/W4401416363","https://openalex.org/W4402354132","https://openalex.org/W4405778904","https://openalex.org/W4405787555","https://openalex.org/W4413925898","https://openalex.org/W4413925973","https://openalex.org/W4413945183"],"related_works":[],"abstract_inverted_index":{"The":[0,100,156],"heterogeneous":[1,66,171],"cluster":[2],"system":[3],"holds":[4],"significant":[5],"application":[6],"potential":[7],"in":[8,65,87,141],"scenarios":[9,151],"such":[10],"as":[11],"collaborative":[12],"logistics,":[13],"disaster":[14],"response":[15],"operations,":[16],"and":[17,37,56,74,97,107,135],"precision":[18],"agriculture,":[19],"but":[20],"achieving":[21],"effective":[22,168],"task":[23,63,124,139,154],"planning":[24,64],"for":[25,62,166],"its":[26],"subsystems":[27],"remains":[28],"a":[29,80,117],"challenging":[30],"issue":[31],"due":[32],"to":[33],"specialized":[34],"robotic":[35],"hardware":[36],"distinct":[38],"action":[39],"spaces.":[40],"To":[41],"this":[42,127],"end,":[43],"an":[44,89],"innovative":[45],"framework":[46],"called":[47],"LLM-driven":[48],"Closed-Loop":[49],"Behavior":[50],"Tree":[51],"(LLM-CBT)":[52],"is":[53,85,93,104,133,144,164],"proposed.":[54],"LLMs":[55],"behavior":[57,91,102],"trees":[58],"(BTs)":[59],"are":[60,109],"integrated":[61],"unmanned":[67,172],"clusters,":[68],"including":[69],"Unmanned":[70,75],"Aerial":[71],"Vehicles":[72,77],"(UAVs)":[73],"Ground":[76],"(UGVs).":[78],"Particularly,":[79],"novel":[81],"mechanism,":[82],"Generation-Refinement-Execution-Feedback":[83],"(GREF),":[84],"introduced,":[86],"which":[88],"initial":[90],"tree":[92,103],"generated":[94],"by":[95],"LLM":[96],"iteratively":[98],"refined.":[99],"refined":[101],"then":[105],"executed,":[106],"adjustments":[108],"made":[110],"based":[111],"on":[112],"the":[113,123,129,136,160,167],"execution":[114,140],"results,":[115],"forming":[116],"closed-loop":[118,162],"process":[119],"that":[120,159],"ultimately":[121],"achieves":[122],"objectives.":[125],"In":[126],"way,":[128],"executability":[130],"of":[131,138,170],"BTs":[132],"improved,":[134],"robustness":[137],"dynamic":[142],"environments":[143],"enhanced.":[145],"Experiments":[146],"were":[147],"conducted":[148],"across":[149],"three":[150],"with":[152],"varying":[153],"complexity.":[155],"results":[157],"show":[158],"GREF":[161],"mechanism":[163],"essential":[165],"operation":[169],"clusters.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
