{"id":"https://openalex.org/W2900728293","doi":"https://doi.org/10.1109/mits.2018.2879182","title":"Advances in the Hierarchical Emergent Behaviors (HEB) Approach to Autonomous Vehicles","display_name":"Advances in the Hierarchical Emergent Behaviors (HEB) Approach to Autonomous Vehicles","publication_year":2018,"publication_date":"2018-11-13","ids":{"openalex":"https://openalex.org/W2900728293","doi":"https://doi.org/10.1109/mits.2018.2879182","mag":"2900728293"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2018.2879182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2018.2879182","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2117/129134","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032083314","display_name":"Dami\u00e1n Roca","orcid":"https://orcid.org/0000-0003-3077-6187"},"institutions":[{"id":"https://openalex.org/I2799803557","display_name":"Barcelona Supercomputing Center","ror":"https://ror.org/05sd8tv96","country_code":"ES","type":"facility","lineage":["https://openalex.org/I2799803557","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Damian Roca","raw_affiliation_strings":["Barcelona Supercomputing Center (BSC-CNS) and the Universitat Polit\u00e8cnica de Catalunya (UPC), Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Barcelona Supercomputing Center (BSC-CNS) and the Universitat Polit\u00e8cnica de Catalunya (UPC), Barcelona, Spain","institution_ids":["https://openalex.org/I2799803557","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078277098","display_name":"Rodolfo Milito","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodolfo Milito","raw_affiliation_strings":["Chief Data Scientist, Starflow Networks Inc, California, USA"],"affiliations":[{"raw_affiliation_string":"Chief Data Scientist, Starflow Networks Inc, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019446198","display_name":"Mario Nemirovsky","orcid":null},"institutions":[{"id":"https://openalex.org/I11932220","display_name":"Instituci\u00f3 Catalana de Recerca i Estudis Avan\u00e7ats","ror":"https://ror.org/0371hy230","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I11932220"]},{"id":"https://openalex.org/I4210156900","display_name":"CNS Research (United States)","ror":"https://ror.org/05a9nb826","country_code":"US","type":"company","lineage":["https://openalex.org/I4210156900"]}],"countries":["ES","US"],"is_corresponding":false,"raw_author_name":"Mario Nemirovsky","raw_affiliation_strings":["ICREA Senior Research Professor, BSC-CNS"],"affiliations":[{"raw_affiliation_string":"ICREA Senior Research Professor, BSC-CNS","institution_ids":["https://openalex.org/I4210156900","https://openalex.org/I11932220"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020844763","display_name":"Mateo Valero","orcid":"https://orcid.org/0000-0003-2917-2482"},"institutions":[{"id":"https://openalex.org/I2799803557","display_name":"Barcelona Supercomputing Center","ror":"https://ror.org/05sd8tv96","country_code":"ES","type":"facility","lineage":["https://openalex.org/I2799803557","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mateo Valero","raw_affiliation_strings":["Barcelona Supercomputing Center (BSC-CNS) and the Universitat Polit\u00e8cnica de Catalunya (UPC), Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Barcelona Supercomputing Center (BSC-CNS) and the Universitat Polit\u00e8cnica de Catalunya (UPC), Barcelona, Spain","institution_ids":["https://openalex.org/I2799803557","https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032083314"],"corresponding_institution_ids":["https://openalex.org/I2799803557","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":0.15,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5546825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"12","issue":"4","first_page":"57","last_page":"65"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/scalability","display_name":"Scalability","score":0.8256285786628723},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7539147734642029},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7297018766403198},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6742061376571655},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5883769392967224},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5097036361694336},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5078080296516418},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.483825147151947},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.44404253363609314},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3885921835899353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.373974084854126},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35490521788597107},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1982763111591339}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.8256285786628723},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7539147734642029},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7297018766403198},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6742061376571655},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5883769392967224},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5097036361694336},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5078080296516418},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.483825147151947},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.44404253363609314},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3885921835899353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.373974084854126},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35490521788597107},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1982763111591339},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mits.2018.2879182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2018.2879182","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Transportation Systems Magazine","raw_type":"journal-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/129134","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/129134","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:dnet:upcommonspor::ee07ea4c7fd724312e08118e22d20950","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/129134","pdf_url":"http://hdl.handle.net/2117/129134","source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"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/submittedVersion"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/129134","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/129134","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3810062594","display_name":null,"funder_award_id":"TIN2015-65316","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G599583229","display_name":null,"funder_award_id":"TIN2015-65316-P","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1504506037","https://openalex.org/W1507591516","https://openalex.org/W2008082561","https://openalex.org/W2053933273","https://openalex.org/W2080782477","https://openalex.org/W2088173505","https://openalex.org/W2091756921","https://openalex.org/W2098916117","https://openalex.org/W2099076776","https://openalex.org/W2114195376","https://openalex.org/W2114623221","https://openalex.org/W2130647945","https://openalex.org/W2134515888","https://openalex.org/W2150312211","https://openalex.org/W2256473988","https://openalex.org/W2508448572","https://openalex.org/W2509583637","https://openalex.org/W2515191420","https://openalex.org/W2559528493","https://openalex.org/W2617674961","https://openalex.org/W3101102436","https://openalex.org/W4234406933","https://openalex.org/W6677253087","https://openalex.org/W6682180547","https://openalex.org/W6738331021"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W1567818861","https://openalex.org/W2987774938","https://openalex.org/W4256492088","https://openalex.org/W632915154","https://openalex.org/W2055733372","https://openalex.org/W3022067003"],"abstract_inverted_index":{"Widespread":[0],"deployment":[1],"of":[2,23,39,64,78,94,127],"autonomous":[3],"vehicles":[4],"(AVs)":[5],"presents":[6],"formidable":[7],"challenges":[8],"in":[9,20],"terms":[10],"on":[11,36,47,71,87,90],"handling":[12],"scalability":[13],"and":[14,42,130],"complexity,":[15],"particularly":[16],"regarding":[17],"vehicular":[18,57],"reaction":[19],"the":[21,37,76,98,103,117,123,132,136],"face":[22],"unforeseen":[24],"corner":[25],"cases.":[26],"Hierarchical":[27],"Emergent":[28],"Behaviors":[29],"(HEB)":[30],"is":[31],"a":[32,48,91,107],"scalable":[33],"architecture":[34],"based":[35],"concepts":[38],"emergent":[40,128],"behaviors":[41,73],"hierarchical":[43,100],"decomposition.":[44],"It":[45],"relies":[46,70],"few":[49],"simple":[50],"but":[51],"powerful":[52],"rules":[53,95,115],"to":[54,105],"govern":[55],"local":[56],"interactions.":[58],"Rather":[59],"than":[60],"requiring":[61],"prescriptive":[62],"programming":[63],"every":[65],"possible":[66],"scenario,":[67],"HEB's":[68],"approach":[69],"global":[72],"induced":[74],"by":[75],"application":[77],"these":[79],"local,":[80],"well-understood":[81],"rules.":[82],"Our":[83],"first":[84,99],"two":[85],"papers":[86],"HEB":[88],"focused":[89],"primal":[92],"set":[93,126],"applied":[96],"at":[97],"level.":[101],"On":[102],"path":[104],"systematize":[106],"solid":[108],"design":[109],"methodology,":[110],"this":[111],"paper":[112],"proposes":[113],"additional":[114],"for":[116],"second":[118],"level,":[119],"studies":[120],"through":[121],"simulations":[122],"resultant":[124],"richer":[125],"behaviors,":[129],"discusses":[131],"communication":[133],"mechanisms":[134],"between":[135],"different":[137],"levels.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
