{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,2]],"date-time":"2025-04-02T03:10:28Z","timestamp":1743563428285,"version":"3.40.3"},"publisher-location":"Cham","reference-count":34,"publisher":"Springer Nature Switzerland","isbn-type":[{"value":"9783031885303","type":"print"},{"value":"9783031885310","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025]]},"DOI":"10.1007\/978-3-031-88531-0_24","type":"book-chapter","created":{"date-parts":[[2025,4,2]],"date-time":"2025-04-02T02:50:34Z","timestamp":1743562234000},"page":"333-349","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Extending Behavior Trees for\u00a0Robotic Missions with\u00a0Quality Requirements"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5428-8113","authenticated-orcid":false,"given":"Razan","family":"Ghzouli","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5449-7900","authenticated-orcid":false,"given":"Rebekka","family":"Wohlrab","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2019-5277","authenticated-orcid":false,"given":"Jennifer","family":"Horkoff","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,4,1]]},"reference":[{"key":"24_CR1","doi-asserted-by":"crossref","unstructured":"Iovino, M., F\u00f6rster, J., Falco, P., Chung, J.J., Siegwart, R., Smith, C.: On the programming effort required to generate behavior trees and finite state machines for robotic applications. In: 2023 IEEE International Conference\u00a0on Robotics and Automation (ICRA), pp. 5807\u20135813 (2023)","DOI":"10.1109\/ICRA48891.2023.10160972"},{"key":"24_CR2","doi-asserted-by":"crossref","unstructured":"Colledanchise, M., \u00d6gren, P.: Behavior Trees in Robotics and Al: An Introduction. CRC Press (2018)","DOI":"10.1201\/9780429489105"},{"key":"24_CR3","doi-asserted-by":"crossref","unstructured":"Ghzouli, R., Berger, T., Johnsen, E.B., Wasowski, A., Dragule, S.: Behavior trees and state machines in robotics applications. IEEE Trans. Softw. Eng. (2023)","DOI":"10.1109\/TSE.2023.3269081"},{"issue":"2","key":"24_CR4","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1007\/s10664-022-10231-5","volume":"28","author":"S Garcia","year":"2023","unstructured":"Garcia, S., Str\u00fcber, D., Brugali, D., Di Fava, A., Pelliccione, P., Berger, T.: Software variability in service robotics. Empirical Softw. Eng. 28(2), 24 (2023)","journal-title":"Empirical Softw. Eng."},{"key":"24_CR5","unstructured":"Riley, J.M., Strater, L.D., Chappell, S.L., Connors, E.S., Endsley, M.R.: Situation awareness in human-robot interaction: challenges and user interface requirements. Hum. Robot Interact. Future Mil. Oper. 171\u2013192 (2010)"},{"key":"24_CR6","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2022.104096","volume":"154","author":"M Iovino","year":"2022","unstructured":"Iovino, M., Scukins, E., Styrud, J., \u00d6gren, P., Smith, C.: A survey of behavior trees in robotics and AI. Robot. Auton. Syst. 154, 104096 (2022)","journal-title":"Robot. Auton. Syst."},{"key":"24_CR7","doi-asserted-by":"crossref","unstructured":"Yu, E.S.: Towards modelling and reasoning support for early-phase requirements engineering. In: 3rd IEEE International Symposium on Requirements Engineering, pp. 226\u2013235 (1997)","DOI":"10.1109\/ISRE.1997.566873"},{"key":"24_CR8","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1016\/j.infsof.2016.08.005","volume":"80","author":"M Vierhauser","year":"2016","unstructured":"Vierhauser, M., Rabiser, R., Gr\u00fcnbacher, P.: Requirements monitoring frameworks: a systematic review. Inf. Softw. Technol. 80, 89\u2013109 (2016)","journal-title":"Inf. Softw. Technol."},{"key":"24_CR9","volume-title":"Robotics 2020 Multi-Annual Roadmap for Robotics in Europe","author":"S Robotics","year":"2017","unstructured":"Robotics, S.: Robotics 2020 Multi-Annual Roadmap for Robotics in Europe. SPARC Robotics, EU-Robotics AISBL, The Hauge, The Netherlands (2017)"},{"issue":"1","key":"24_CR10","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1007\/s10270-021-00908-8","volume":"21","author":"GL Casalaro","year":"2022","unstructured":"Casalaro, G.L., Cattivera, G., Ciccozzi, F., Malavolta, I., Wortmann, A., Pelliccione, P.: Model-driven engineering for mobile robotic systems: a systematic mapping study. Softw. Syst. Model. 21(1), 19\u201349 (2022)","journal-title":"Softw. Syst. Model."},{"key":"24_CR11","doi-asserted-by":"crossref","unstructured":"Nordmann, A., Hochgeschwender, N., Wrede, S.: A survey on domain-specific languages in robotics. In: International Conference\u00a0on Simulation, Modeling, and Programming for Autonomous Robots, pp. 195\u2013206 (2014)","DOI":"10.1007\/978-3-319-11900-7_17"},{"key":"24_CR12","unstructured":"Faconti, D.: MOOD2Be: Models and tools to design robotic behaviors (2019)"},{"key":"24_CR13","unstructured":"Online appendix. https:\/\/github.com\/RazanGhzouli\/qualityBTDSL (2024)"},{"key":"24_CR14","doi-asserted-by":"crossref","unstructured":"Chung, L., Nixon, B.A., Yu, E., Mylopoulos, J.: Non-functional requirements in software engineering, vol.\u00a05. Springer Science & Business Media (1999)","DOI":"10.1007\/978-1-4615-5269-7"},{"key":"24_CR15","doi-asserted-by":"crossref","unstructured":"Eckhardt, J., Vogelsang, A., M\u00e9ndez\u00a0Fern\u00e1ndez, D.: Are \u201cnon-functional\u201d requirements really non-functional? An investigation of non-functional requirements in practice. In: 38th International Conference on Software Engineering, pp. 832\u2013842 (2016)","DOI":"10.1145\/2884781.2884788"},{"key":"24_CR16","unstructured":"International Organization for Standardization: ISO\/IEC 25010:2023 Systems and software engineering \u2013 Systems and software Quality Requirements and Evaluation (SQuaRE) \u2013 Product quality model. https:\/\/www.iso.org\/standard\/78176.html (2023)"},{"issue":"2","key":"24_CR17","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1037\/h0042769","volume":"63","author":"HA Simon","year":"1956","unstructured":"Simon, H.A.: Rational choice and the structure of the environment. Psychol. Rev. 63(2), 129 (1956)","journal-title":"Psychol. Rev."},{"key":"24_CR18","doi-asserted-by":"crossref","unstructured":"Macenski, S., Mart\u00edn, F., White, R., Clavero, J.G.: The marathon 2: a navigation system. In: 2020 IEEE\/RSJ International Conference\u00a0on Intelligent Robots and Systems (IROS), pp. 2718\u20132725 (2020)","DOI":"10.1109\/IROS45743.2020.9341207"},{"issue":"7815","key":"24_CR19","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1038\/s41586-020-2442-2","volume":"583","author":"B Burger","year":"2020","unstructured":"Burger, B., et al.: A mobile robotic chemist. Nature 583(7815), 237\u2013241 (2020)","journal-title":"Nature"},{"key":"24_CR20","unstructured":"Steinberg, D., Budinsky, F., Merks, E., Paternostro, M.: EMF: eclipse modeling framework. Pearson Education (2008)"},{"key":"24_CR21","unstructured":"Efftinge, S., V\u00f6lter, M.: oAW xText: A framework for textual DSLs. In: Workshop on Modeling Symposium\u00a0at Eclipse Summit. vol.\u00a032 (2006)"},{"key":"24_CR22","unstructured":"Bettini, L.: Implementing domain-specific languages with Xtext and Xtend. Packt Publishing Ltd (2016)"},{"key":"24_CR23","doi-asserted-by":"crossref","unstructured":"Guest, G., MacQueen, K.M., Namey, E.E.: Applied thematic analysis. sage publications (2011)","DOI":"10.4135\/9781483384436"},{"key":"24_CR24","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.knosys.2016.10.023","volume":"115","author":"I Dejanovi\u0107","year":"2017","unstructured":"Dejanovi\u0107, I., Vaderna, R., Milosavljevi\u0107, G., Vukovi\u0107, \u017d: TextX: a python tool for domain-specific languages implementation. Knowl.-Based Syst. 115, 1\u20134 (2017)","journal-title":"Knowl.-Based Syst."},{"issue":"1","key":"24_CR25","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10270-019-00773-6","volume":"19","author":"A Bucchiarone","year":"2020","unstructured":"Bucchiarone, A., Cabot, J., Paige, R.F., Pierantonio, A.: Grand challenges in model-driven engineering: an analysis of the state of the research. Softw. Syst. Model. 19(1), 5\u201313 (2020). https:\/\/doi.org\/10.1007\/s10270-019-00773-6","journal-title":"Softw. Syst. Model."},{"key":"24_CR26","unstructured":"Mcquillan, K.: A survey of behaviour trees and their applications for game AI (2015). course CP5330 final report, James Cook University"},{"key":"24_CR27","doi-asserted-by":"crossref","unstructured":"Marzinotto, A., Colledanchise, M., Smith, C., \u00d6gren, P.: Towards a unified behavior trees framework for robot control. In: ICRA (2014)","DOI":"10.1109\/ICRA.2014.6907656"},{"key":"24_CR28","doi-asserted-by":"crossref","unstructured":"Rovida, F., Grossmann, B., Kr\u00fcger, V.: Extended behavior trees for quick definition of flexible robotic tasks. In: IROS (2017)","DOI":"10.1109\/IROS.2017.8206598"},{"key":"24_CR29","doi-asserted-by":"crossref","unstructured":"Colledanchise, M., Natale, L.: Analysis and exploitation of synchronized parallel executions in behavior trees. In: 2019 IEEE\/RSJ International Conference\u00a0on Intelligent Robots and Systems (IROS), pp. 6399\u20136406 (2019)","DOI":"10.1109\/IROS40897.2019.8967812"},{"key":"24_CR30","doi-asserted-by":"crossref","unstructured":"Giunchiglia, E., Colledanchise, M., Natale, L., Tacchella, A.: Conditional behavior trees: definition, executability, and applications. In: 2019 IEEE International Conference\u00a0on Systems, Man and Cybernetics (SMC), pp. 1899\u20131906 (2019)","DOI":"10.1109\/SMC.2019.8914358"},{"key":"24_CR31","doi-asserted-by":"crossref","unstructured":"De\u00a0Campos\u00a0Affonso, G., Okada, K., Inaba, M.: State-aware layered BTs-behavior tree extensions for post-actions, preferences and local priorities in robotic applications. In: International Conference\u00a0on Intelligent Autonomous Systems, pp. 673\u2013689 (2022)","DOI":"10.1007\/978-3-031-22216-0_45"},{"key":"24_CR32","unstructured":"Steck, A., Schlegel, C.: Towards quality of service and resource aware robotic systems through model-driven software development (2010)"},{"key":"24_CR33","unstructured":"Reichardt, M., F\u00f6hst, T., Berns, K.: On software quality-motivated design of a real-time framework for complex robot control systems. Electronic Communications of the EASST 60 (2013)"},{"key":"24_CR34","unstructured":"Monthe, V., Nana, L., Kouamou, G.E., Tangha, C.: RsaML: a domain specific modeling language for describing robotic software architectures with integration of real time properties. In: EWiLi (2016)"}],"container-title":["Lecture Notes in Computer Science","Requirements Engineering: Foundation for Software Quality"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-88531-0_24","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,2]],"date-time":"2025-04-02T02:50:49Z","timestamp":1743562249000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-88531-0_24"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"ISBN":["9783031885303","9783031885310"],"references-count":34,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-88531-0_24","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"1 April 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Disclosure of Interests"}},{"value":"REFSQ","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Working Conference on Requirements Engineering: Foundation for Software Quality","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Barcelona","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Spain","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"7 April 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 April 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"refsq2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}