{"id":"https://openalex.org/W1910406352","doi":"https://doi.org/10.1162/artl_a_00192","title":"Behavior Trees for Evolutionary Robotics","display_name":"Behavior Trees for Evolutionary Robotics","publication_year":2016,"publication_date":"2016-02-01","ids":{"openalex":"https://openalex.org/W1910406352","doi":"https://doi.org/10.1162/artl_a_00192","mag":"1910406352","pmid":"https://pubmed.ncbi.nlm.nih.gov/26606468"},"language":"en","primary_location":{"id":"doi:10.1162/artl_a_00192","is_oa":false,"landing_page_url":"https://doi.org/10.1162/artl_a_00192","pdf_url":null,"source":{"id":"https://openalex.org/S2181302","display_name":"Artificial Life","issn_l":"1064-5462","issn":["1064-5462","1530-9185"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5090706019","display_name":"Kirk Y. W. Scheper","orcid":"https://orcid.org/0000-0003-2770-5556"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kirk Y. W. Scheper","raw_affiliation_strings":["Control & Simulation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control & Simulation","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061530258","display_name":"Sjoerd Tijmons","orcid":"https://orcid.org/0000-0002-8530-9036"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sjoerd Tijmons","raw_affiliation_strings":["Control & Simulation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control & Simulation","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Cornelis C. de Visser","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cornelis C. de Visser","raw_affiliation_strings":["Control & Simulation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control & Simulation","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058902676","display_name":"Guido de Croon","orcid":"https://orcid.org/0000-0001-8265-1496"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Guido C. H. E. de Croon","raw_affiliation_strings":["Delft University of Technology","Delft University of Technology,,,,,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft University of Technology,,,,,","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090706019"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.5092,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.97123601,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":"1","first_page":"23","last_page":"48"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987999796867371,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987999796867371,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.998199999332428,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9968000054359436,"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/robotics","display_name":"Robotics","score":0.8034014701843262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7568991184234619},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.6962889432907104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6857170462608337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5351548790931702},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5111232399940491},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4518841505050659},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.43214765191078186},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3658181428909302},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32262560725212097}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8034014701843262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7568991184234619},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.6962889432907104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6857170462608337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5351548790931702},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5111232399940491},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4518841505050659},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.43214765191078186},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3658181428909302},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32262560725212097},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1162/artl_a_00192","is_oa":false,"landing_page_url":"https://doi.org/10.1162/artl_a_00192","pdf_url":null,"source":{"id":"https://openalex.org/S2181302","display_name":"Artificial Life","issn_l":"1064-5462","issn":["1064-5462","1530-9185"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life","raw_type":"journal-article"},{"id":"pmid:26606468","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26606468","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial life","raw_type":null},{"id":"pmh:oai:tudelft.nl:uuid:8a89b803-5e76-40cd-8c22-b9b9c10e46dc","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:8a89b803-5e76-40cd-8c22-b9b9c10e46dc","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","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":58,"referenced_works":["https://openalex.org/W2716320","https://openalex.org/W133122663","https://openalex.org/W157468466","https://openalex.org/W191292346","https://openalex.org/W1481659984","https://openalex.org/W1492895344","https://openalex.org/W1507439377","https://openalex.org/W1510385551","https://openalex.org/W1518246399","https://openalex.org/W1524728167","https://openalex.org/W1538129791","https://openalex.org/W1574570499","https://openalex.org/W1583797841","https://openalex.org/W1608608607","https://openalex.org/W1755458803","https://openalex.org/W1965705114","https://openalex.org/W1972197206","https://openalex.org/W1975215321","https://openalex.org/W1977023370","https://openalex.org/W1978161072","https://openalex.org/W1981075595","https://openalex.org/W1994005705","https://openalex.org/W1994030467","https://openalex.org/W2001685400","https://openalex.org/W2022206710","https://openalex.org/W2032583169","https://openalex.org/W2040492000","https://openalex.org/W2049095866","https://openalex.org/W2051246274","https://openalex.org/W2055034398","https://openalex.org/W2072188323","https://openalex.org/W2073318111","https://openalex.org/W2073521447","https://openalex.org/W2074691864","https://openalex.org/W2078506364","https://openalex.org/W2082266618","https://openalex.org/W2097571405","https://openalex.org/W2100988719","https://openalex.org/W2104974755","https://openalex.org/W2106034241","https://openalex.org/W2116409257","https://openalex.org/W2124666598","https://openalex.org/W2132257796","https://openalex.org/W2140120379","https://openalex.org/W2140638079","https://openalex.org/W2143425433","https://openalex.org/W2149054115","https://openalex.org/W2163324304","https://openalex.org/W2171658832","https://openalex.org/W2251631938","https://openalex.org/W2341057945","https://openalex.org/W2751335644","https://openalex.org/W3023540311","https://openalex.org/W3097096317","https://openalex.org/W3214102110","https://openalex.org/W4248967795","https://openalex.org/W4251990921","https://openalex.org/W4253999777"],"related_works":["https://openalex.org/W4244439390","https://openalex.org/W2380659006","https://openalex.org/W4251432983","https://openalex.org/W2096206748","https://openalex.org/W4243658538","https://openalex.org/W2049953310","https://openalex.org/W2587876269","https://openalex.org/W2492394916","https://openalex.org/W2076767946","https://openalex.org/W2470534575"],"abstract_inverted_index":{"Evolutionary":[0],"Robotics":[1],"allows":[2],"robots":[3],"with":[4,92,103,126],"limited":[5],"sensors":[6,130],"and":[7,71,121,131,144],"processing":[8],"to":[9,45,69,81],"tackle":[10],"complex":[11],"tasks":[12],"by":[13,87],"means":[14],"of":[15,26,49,56,136],"sensory-motor":[16],"coordination.":[17],"In":[18],"this":[19,155],"article":[20],"we":[21],"show":[22,112],"the":[23,27,37,47,50,57,65,76,93,114,137,145,164],"first":[24],"application":[25],"Behavior":[28],"Tree":[29],"framework":[30,42],"on":[31],"a":[32,63,104,124,169],"real":[33],"robotic":[34,52],"platform":[35],"using":[36],"evolutionary":[38],"robotics":[39],"methodology.":[40],"This":[41,83],"is":[43,67,85,142,149,161],"used":[44],"improve":[46],"intelligibility":[48],"emergent":[51],"behavior":[53,66,139],"over":[54],"that":[55,113],"traditional":[58],"neural":[59],"network":[60],"formulation.":[61],"As":[62],"result,":[64],"easier":[68],"comprehend":[70],"manually":[72],"adapt":[73],"when":[74],"crossing":[75],"reality":[77],"gap":[78],"from":[79,168],"simulation":[80,141],"reality.":[82],"functionality":[84],"shown":[86],"performing":[88],"real-world":[89,147],"flight":[90],"tests":[91],"20-g":[94],"DelFly":[95,115],"Explorer":[96],"flapping":[97],"wing":[98],"micro":[99],"air":[100],"vehicle":[101],"equipped":[102],"4-g":[105],"onboard":[106,129],"stereo":[107],"vision":[108],"system.":[109],"The":[110,133],"experiments":[111],"can":[116],"fully":[117],"autonomously":[118],"search":[119],"for":[120,158],"fly":[122],"through":[123],"window":[125],"only":[127],"its":[128],"processing.":[132],"success":[134,166],"rate":[135,167],"optimized":[138],"in":[140],"88%,":[143],"corresponding":[146],"performance":[148],"54%":[150],"after":[151],"user":[152],"adaptation.":[153],"Although":[154],"leaves":[156],"room":[157],"improvement,":[159],"it":[160],"higher":[162],"than":[163],"46%":[165],"tuned":[170],"user-defined":[171],"controller.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}