{"id":"https://openalex.org/W4384130050","doi":"https://doi.org/10.1109/tro.2023.3290449","title":"KT-BT: A Framework for Knowledge Transfer Through Behavior Trees in Multirobot Systems","display_name":"KT-BT: A Framework for Knowledge Transfer Through Behavior Trees in Multirobot Systems","publication_year":2023,"publication_date":"2023-07-13","ids":{"openalex":"https://openalex.org/W4384130050","doi":"https://doi.org/10.1109/tro.2023.3290449"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3290449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3290449","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"type":"article","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/A5010213753","display_name":"Sanjay Sarma Oruganti Venkata","orcid":"https://orcid.org/0000-0003-3402-2358"},"institutions":[{"id":"https://openalex.org/I165733156","display_name":"University of Georgia","ror":"https://ror.org/00te3t702","country_code":"US","type":"education","lineage":["https://openalex.org/I165733156"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjay Sarma Oruganti Venkata","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Georgia, Athens, GA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3402-2358","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Georgia, Athens, GA, USA","institution_ids":["https://openalex.org/I165733156"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066995823","display_name":"Ramviyas Parasuraman","orcid":"https://orcid.org/0000-0001-5451-8209"},"institutions":[{"id":"https://openalex.org/I165733156","display_name":"University of Georgia","ror":"https://ror.org/00te3t702","country_code":"US","type":"education","lineage":["https://openalex.org/I165733156"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramviyas Parasuraman","raw_affiliation_strings":["School of Computing, University of Georgia, Athens, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5451-8209","affiliations":[{"raw_affiliation_string":"School of Computing, University of Georgia, Athens, GA, USA","institution_ids":["https://openalex.org/I165733156"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030284225","display_name":"Ramana M. Pidaparti","orcid":"https://orcid.org/0000-0002-7484-3858"},"institutions":[{"id":"https://openalex.org/I165733156","display_name":"University of Georgia","ror":"https://ror.org/00te3t702","country_code":"US","type":"education","lineage":["https://openalex.org/I165733156"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramana Pidaparti","raw_affiliation_strings":["School of Environmental, Civil, Agricultural and Mechanical Engineering, University of Georgia, Athens, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7484-3858","affiliations":[{"raw_affiliation_string":"School of Environmental, Civil, Agricultural and Mechanical Engineering, University of Georgia, Athens, GA, USA","institution_ids":["https://openalex.org/I165733156"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165733156"],"apc_list":null,"apc_paid":null,"fwci":2.4878,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9106764,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"39","issue":"5","first_page":"4114","last_page":"4130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9983000159263611,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9983000159263611,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.998199999332428,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9965000152587891,"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":0.7029193639755249},{"id":"https://openalex.org/keywords/knowledge-transfer","display_name":"Knowledge transfer","score":0.5759970545768738},{"id":"https://openalex.org/keywords/knowledge-sharing","display_name":"Knowledge sharing","score":0.5730090737342834},{"id":"https://openalex.org/keywords/collective-intelligence","display_name":"Collective intelligence","score":0.4492111802101135},{"id":"https://openalex.org/keywords/knowledge-management","display_name":"Knowledge management","score":0.4483201205730438},{"id":"https://openalex.org/keywords/knowledge-representation-and-reasoning","display_name":"Knowledge representation and reasoning","score":0.4339938759803772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42502692341804504},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.4202796220779419},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3020361363887787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029193639755249},{"id":"https://openalex.org/C2776960227","wikidata":"https://www.wikidata.org/wiki/Q2586354","display_name":"Knowledge transfer","level":2,"score":0.5759970545768738},{"id":"https://openalex.org/C2776604539","wikidata":"https://www.wikidata.org/wiki/Q6423395","display_name":"Knowledge sharing","level":2,"score":0.5730090737342834},{"id":"https://openalex.org/C89057211","wikidata":"https://www.wikidata.org/wiki/Q432197","display_name":"Collective intelligence","level":2,"score":0.4492111802101135},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.4483201205730438},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.4339938759803772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42502692341804504},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.4202796220779419},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3020361363887787},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3290449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3290449","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1556276806","https://openalex.org/W1596895962","https://openalex.org/W1931898074","https://openalex.org/W1992935239","https://openalex.org/W1997664188","https://openalex.org/W2017548525","https://openalex.org/W2071611837","https://openalex.org/W2087238006","https://openalex.org/W2114027706","https://openalex.org/W2123634905","https://openalex.org/W2127395772","https://openalex.org/W2137079713","https://openalex.org/W2142733262","https://openalex.org/W2165718261","https://openalex.org/W2171008588","https://openalex.org/W2171246729","https://openalex.org/W2176056341","https://openalex.org/W2204542907","https://openalex.org/W2259258048","https://openalex.org/W2294712518","https://openalex.org/W2557743003","https://openalex.org/W2567075875","https://openalex.org/W2568351164","https://openalex.org/W2581593760","https://openalex.org/W2597626586","https://openalex.org/W2753034999","https://openalex.org/W2773249613","https://openalex.org/W2775198042","https://openalex.org/W2799899844","https://openalex.org/W2807731679","https://openalex.org/W2889008741","https://openalex.org/W2902824308","https://openalex.org/W2933663337","https://openalex.org/W2963704628","https://openalex.org/W2965163470","https://openalex.org/W2965613630","https://openalex.org/W2967901646","https://openalex.org/W2978894944","https://openalex.org/W2988246259","https://openalex.org/W2990523276","https://openalex.org/W2994446013","https://openalex.org/W2999963940","https://openalex.org/W3013348603","https://openalex.org/W3019579407","https://openalex.org/W3024044737","https://openalex.org/W3089675627","https://openalex.org/W3093255565","https://openalex.org/W3105836502","https://openalex.org/W3115172808","https://openalex.org/W3124613582","https://openalex.org/W3138524621","https://openalex.org/W3169545922","https://openalex.org/W3199154202","https://openalex.org/W3207251292","https://openalex.org/W4200181117","https://openalex.org/W4206833733","https://openalex.org/W4210952425","https://openalex.org/W6633143669","https://openalex.org/W6640190462","https://openalex.org/W6688157523","https://openalex.org/W6775415746"],"related_works":["https://openalex.org/W4246956250","https://openalex.org/W186767603","https://openalex.org/W1795827484","https://openalex.org/W2496625196","https://openalex.org/W2160595519","https://openalex.org/W2805914638","https://openalex.org/W4296990358","https://openalex.org/W2020282365","https://openalex.org/W4220996582","https://openalex.org/W2365693924"],"abstract_inverted_index":{"Multirobot":[0],"and":[1,10,25,32,68,99,161,170,184,192],"multiagent":[2],"systems":[3],"demonstrate":[4],"collective":[5],"(swarm)":[6],"intelligence":[7],"through":[8,76,86],"systematic":[9],"distributed":[11],"integration":[12],"of":[13,46,53,125,132,147,182,198],"local":[14],"behaviors":[15],"in":[16,129,156,174,195],"a":[17,47,63,69,83,105,110,141,157,196],"group.":[18],"Agents":[19],"sharing":[20,148],"knowledge":[21,56,65,74,103,134,168,190],"about":[22],"the":[23,44,54,123,126,136,145,180],"mission":[24,33],"environment":[26],"can":[27],"enhance":[28],"performance":[29,173],"at":[30],"individual":[31],"levels.":[34],"However,":[35],"this":[36],"is":[37],"difficult":[38],"to":[39,43,140],"achieve,":[40],"partly":[41],"due":[42],"lack":[45],"generic":[48],"framework":[49,67,81,128,155],"for":[50,96],"transferring":[51],"part":[52],"known":[55],"(behaviors)":[57],"between":[58],"agents.":[59],"This":[60],"article":[61],"presents":[62],"new":[64],"representation":[66],"transfer":[70,75],"strategy":[71],"called":[72],"KT-BT:":[73],"behavior":[77,89,118],"trees.":[78],"The":[79,164],"KT-BT":[80,127],"follows":[82],"query-response-update":[84],"mechanism":[85],"an":[87],"online":[88],"tree":[90],"framework,":[91],"where":[92],"agents":[93],"broadcast":[94],"queries":[95],"unknown":[97],"conditions":[98],"respond":[100],"with":[101],"appropriate":[102],"using":[104],"condition-action-control":[106],"subflow.":[107],"We":[108,120,151,177],"embed":[109],"novel":[111],"grammar":[112],"structure":[113],"calledstringBTthat":[114],"encodes":[115],"knowledge,":[116],"enabling":[117],"sharing.":[119],"theoretically":[121],"investigate":[122],"properties":[124],"achieving":[130],"homogeneity":[131],"high":[133],"across":[135],"entire":[137],"group":[138,172,188,197],"compared":[139],"heterogeneous":[142],"system":[143],"without":[144],"capability":[146],"their":[149],"knowledge.":[150],"extensively":[152],"verify":[153],"our":[154],"simulated":[158],"multirobot":[159],"search":[160],"rescue":[162],"problem.":[163],"results":[165],"show":[166],"successful":[167],"transfers":[169],"improved":[171],"various":[175],"scenarios.":[176],"further":[178],"study":[179],"effects":[181],"opportunities":[183],"communication":[185],"range":[186],"on":[187],"performance,":[189],"spread,":[191],"functional":[193],"heterogeneity":[194],"agents,":[199],"presenting":[200],"interesting":[201],"insights.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}