{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:52:15Z","timestamp":1761490335602,"version":"3.37.3"},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2017,7,18]],"date-time":"2017-07-18T00:00:00Z","timestamp":1500336000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Requirements Eng"],"published-print":{"date-parts":[[2018,11]]},"DOI":"10.1007\/s00766-017-0278-6","type":"journal-article","created":{"date-parts":[[2017,7,18]],"date-time":"2017-07-18T13:14:29Z","timestamp":1500383669000},"page":"509-555","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Goal model analysis of autonomy requirements for Unmanned Aircraft Systems"],"prefix":"10.1007","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4517-3832","authenticated-orcid":false,"given":"Kerry","family":"Neace","sequence":"first","affiliation":[]},{"given":"Robert","family":"Roncace","sequence":"additional","affiliation":[]},{"given":"Pavel","family":"Fomin","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,7,18]]},"reference":[{"key":"278_CR1","doi-asserted-by":"crossref","unstructured":"Board DS, Military US, Defense Do (2012) Defense Science Board task force report. The role of autonomy in DoD systems","DOI":"10.21236\/ADA566864"},{"key":"278_CR2","volume-title":"Introduction to AI robotics. Intelligent robots and autonomous agents","author":"RR Murphy","year":"2000","unstructured":"Murphy RR (2000) Introduction to AI robotics. Intelligent robots and autonomous agents. MIT Press, Cambridge"},{"key":"278_CR3","unstructured":"Endsley M (2015) Autonomous horizons, system autonomy in the air force\u2014a path to the future, human-autonomy teaming, vol 1. Office of Chief Scientist, U.S. Air Force"},{"key":"278_CR4","doi-asserted-by":"publisher","unstructured":"Brat G, Jonsson A Challenges in verification and validation of autonomous systems for space exploration. In: Proceedings of the 2005 IEEE international joint conference on neural networks, 2005 (IJCNN\u201905), 31 July\u20134 Aug. 2005 2005, vol. 2905, pp 2909\u20132914. doi: 10.1109\/IJCNN.2005.1556387","DOI":"10.1109\/IJCNN.2005.1556387"},{"key":"278_CR5","doi-asserted-by":"publisher","DOI":"10.17226\/18815","volume-title":"Autonomy research for civil aviation: toward a new era of flight","author":"NR Council","year":"2014","unstructured":"Council NR (2014) Autonomy research for civil aviation: toward a new era of flight. The National Academies Press, Washington. doi: 10.17226\/18815"},{"issue":"1","key":"278_CR6","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1109\/MC.2003.1160055","volume":"36","author":"JO Kephart","year":"2003","unstructured":"Kephart JO, Chess DM (2003) The vision of autonomic computing. Computer 36(1):41\u201350. doi: 10.1109\/MC.2003.1160055","journal-title":"Computer"},{"key":"278_CR7","doi-asserted-by":"publisher","unstructured":"Vassev E, Hinchey M (2013) Autonomy requirements engineering. In: 2013 IEEE 14th international conference on information reuse and integration (IRI), pp 175\u2013184. doi: 10.1109\/IRI.2013.6642470","DOI":"10.1109\/IRI.2013.6642470"},{"issue":"4","key":"278_CR8","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1007\/s00766-010-0110-z","volume":"15","author":"R Ali","year":"2010","unstructured":"Ali R, Dalpiaz F, Giorgini P (2010) A goal-based framework for contextual requirements modeling and analysis. Requir Eng 15(4):439\u2013458. doi: 10.1007\/s00766-010-0110-z","journal-title":"Requir Eng"},{"key":"278_CR9","volume-title":"Artificial intelligence a modern approach","author":"S Russell","year":"2010","unstructured":"Russell S, Norvig P (2010) Artificial intelligence a modern approach, 3rd edn. Pearson Education Inc, Upper Saddle River","edition":"3"},{"key":"278_CR10","doi-asserted-by":"publisher","DOI":"10.1007\/s00766-014-0209-8","author":"J Horkoff","year":"2014","unstructured":"Horkoff J, Yu E (2014) Interactive goal model analysis for early requirements engineering. Requir Eng. doi: 10.1007\/s00766-014-0209-8","journal-title":"Requir Eng"},{"key":"278_CR11","volume-title":"Design and analysis of simulation experiments. International series in operations research and management science","author":"JPC Kleijnen","year":"2008","unstructured":"Kleijnen JPC (2008) Design and analysis of simulation experiments. International series in operations research and management science. Springer, New York"},{"issue":"3","key":"278_CR12","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MRA.2012.2206473","volume":"19","author":"T Tomic","year":"2012","unstructured":"Tomic T, Schmid K, Lutz P, Domel A, Kassecker M, Mair E, Grixa IL, Ruess F, Suppa M, Burschka D (2012) Toward a fully autonomous UAV: research platform for indoor and outdoor urban search and rescue. IEEE Robot Autom Mag 19(3):46\u201356. doi: 10.1109\/MRA.2012.2206473","journal-title":"IEEE Robot Autom Mag"},{"key":"278_CR13","doi-asserted-by":"crossref","unstructured":"Lin L, Roscheck M, Goodrich MA, Morse BS (2010) Supporting wilderness search and rescue with integrated intelligence\u2014autonomy and information at the right time and the right place. Paper presented at the AAAI conference on artificial intelligence, Atlanta, GA","DOI":"10.1609\/aaai.v24i1.7573"},{"key":"278_CR14","volume-title":"Disaster robotics. Intelligent robotics and autonomous agents","author":"RR Murphy","year":"2014","unstructured":"Murphy RR (2014) Disaster robotics. Intelligent robotics and autonomous agents. MIT Press, Cambridge"},{"issue":"3","key":"278_CR15","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1109\/TSMCB.2003.811794","volume":"33","author":"J Casper","year":"2003","unstructured":"Casper J, Murphy RR (2003) Human\u2013robot interactions during the robot-assisted urban search and rescue response at the World Trade Center. IEEE Trans Syst Man Cybern B Cybern 33(3):367\u2013385. doi: 10.1109\/TSMCB.2003.811794","journal-title":"IEEE Trans Syst Man Cybern B Cybern"},{"issue":"4","key":"278_CR16","doi-asserted-by":"publisher","first-page":"522","DOI":"10.1002\/rob.21503","volume":"31","author":"BA Duncan","year":"2014","unstructured":"Duncan BA, Murphy RR (2014) Autonomous capabilities for small unmanned aerial systems conducting radiological response: findings from a high-fidelity discovery experiment. J Field Robot 31(4):522\u2013536. doi: 10.1002\/rob.21503","journal-title":"J Field Robot"},{"key":"278_CR17","doi-asserted-by":"publisher","unstructured":"Goodrich MA, Cooper JL, Adams JA, Humphrey C, Zeeman R, Buss BG (2007) Using a mini-UAV to support wilderness search and rescue: practices for human-robot teaming. In: IEEE international workshop on safety, security and rescue robotics, 2007 (SSRR 2007), pp 1\u20136. doi: 10.1109\/SSRR.2007.4381284","DOI":"10.1109\/SSRR.2007.4381284"},{"key":"278_CR18","unstructured":"Lin L, Goodrich MA (2015) Sliding autonomy for UAV path-planning: adding new dimensions to autonomy management. Paper presented at the proceedings of the 2015 international conference on autonomous agents and multiagent systems, Istanbul, Turkey"},{"key":"278_CR19","unstructured":"The Handbook of Artificial Intelligence (1981) vol 1. Kaufmann, William Inc.\/HeurisTech Press, Los Altos"},{"key":"278_CR20","doi-asserted-by":"publisher","unstructured":"Bermejo-Alonso J, Sanz R, Rodr\u00edguez M, Hern\u00e1ndez C (2010) Ontology-based engineering of autonomous systems, pp 47\u201351. doi: 10.1109\/icas.2010.15","DOI":"10.1109\/icas.2010.15"},{"key":"278_CR21","unstructured":"The Handbook of Artificial Intelligence (1982) vol 3. Kaufmann, William Inc.\/HeurisTech Press, Los Altos, CA"},{"key":"278_CR22","doi-asserted-by":"publisher","unstructured":"Vassev E, Hinchey M (2014) Autonomy requirements engineering for space missions. NASA monographs in systems and software engineering, 1st edn. Springer, Berlin. doi: 10.1007\/978-3-319-09816-6","DOI":"10.1007\/978-3-319-09816-6"},{"key":"278_CR23","series-title":"Lecture notes in computer science (LNCS)","volume-title":"Software engineering for collective autonomic systems","author":"E Vassev","year":"2015","unstructured":"Vassev E, Hinchey M (2015) Software engineering for collective autonomic systems, vol 8998. Lecture notes in computer science (LNCS). Springer, Heidelberg"},{"key":"278_CR24","doi-asserted-by":"publisher","unstructured":"Vassev E, Hinchey M (2015) Engineering requirements for autonomy features. In: Wirsing M, H\u00f6lzl M, Koch N, Mayer P (eds) Software engineering for collective autonomic systems: the ASCENS approach. Springer, Cham, pp 379\u2013403. doi: 10.1007\/978-3-319-16310-9_11","DOI":"10.1007\/978-3-319-16310-9_11"},{"key":"278_CR25","doi-asserted-by":"publisher","unstructured":"Duan F, Li X, Liu Y, Fang Y (2011) Towards autonomic computing: a new self-management method. In: Deng H, Miao D, Lei J, Wang FL (eds) Artificial intelligence and computational intelligence: third international conference, AICI 2011, Taiyuan, China, September 24\u201325, 2011, Proceedings, Part I. Springer, Berlin, pp 292\u2013299. doi: 10.1007\/978-3-642-23881-9_39","DOI":"10.1007\/978-3-642-23881-9_39"},{"key":"278_CR26","doi-asserted-by":"publisher","unstructured":"Software Engineering for Collective Autonomic Systems, The ASCENS Approach (2015) vol 8998. Programming and Software Engineering, 1 edn. Springer, Berlin. doi: 10.1007\/978-3-319-16310-9","DOI":"10.1007\/978-3-319-16310-9"},{"key":"278_CR27","doi-asserted-by":"publisher","unstructured":"van Lamsweerde A (2001) Goal-oriented requirements engineering: a guided tour. In: Proceedings of the fifth IEEE international symposium on requirements engineering, 2001, pp 249\u2013262. doi: 10.1109\/ISRE.2001.948567","DOI":"10.1109\/ISRE.2001.948567"},{"issue":"12","key":"278_CR28","doi-asserted-by":"publisher","first-page":"1055","DOI":"10.1109\/32.738339","volume":"24","author":"C Rolland","year":"1998","unstructured":"Rolland C, Souveyet C, Achour CB (1998) Guiding goal modeling using scenarios. IEEE Trans Softw Eng 24(12):1055\u20131071. doi: 10.1109\/32.738339","journal-title":"IEEE Trans Softw Eng"},{"key":"278_CR29","doi-asserted-by":"publisher","unstructured":"Dalpiaz F, Borgida A, Horkoff J, Mylopoulos J (2013) Runtime goal models: Keynote. In: IEEE 7th international conference on research challenges in information science (RCIS), 29\u201331 May 2013, pp 1\u201311. doi: 10.1109\/RCIS.2013.6577674","DOI":"10.1109\/RCIS.2013.6577674"},{"key":"278_CR30","doi-asserted-by":"publisher","unstructured":"Cheng BHC, Sawyer P, Bencomo N, Whittle J (2009) A goal-based modeling approach to develop requirements of an adaptive system with environmental uncertainty. In: Sch\u00fcrr A, Selic B (eds) Proceedings of the model driven engineering languages and systems: 12th international conference (MODELS 2009), Denver, CO, USA, October 4\u20139, 2009. Springer, Berlin, pp 468\u2013483. doi: 10.1007\/978-3-642-04425-0_36","DOI":"10.1007\/978-3-642-04425-0_36"},{"issue":"8","key":"278_CR31","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1002\/int.20433","volume":"25","author":"D Amyot","year":"2010","unstructured":"Amyot D, Ghanavati S, Horkoff J, Mussbacher G, Peyton L, Yu E (2010) Evaluating goal models within the goal-oriented requirement language. Int J Intell Syst 25(8):841\u2013877. doi: 10.1002\/int.20433","journal-title":"Int J Intell Syst"},{"issue":"5","key":"278_CR32","doi-asserted-by":"crossref","first-page":"747","DOI":"10.4304\/jsw.6.5.747-768","volume":"6","author":"D Amyot","year":"2011","unstructured":"Amyot D, Mussbacher G (2011) User requirements notation: the first ten years, the next ten years. J Softw 6(5):747\u2013768","journal-title":"J Softw"},{"key":"278_CR33","unstructured":"ITU-T ITU (2012) ITU-T Z.151. User Requirements Notation (URN)\u2014Language definition"},{"key":"278_CR34","doi-asserted-by":"crossref","unstructured":"Lamsweerde Av (2000) Requirements engineering in the year 00: a research perspective. Paper presented at the proceedings of the 22nd international conference on software engineering, Limerick, Ireland","DOI":"10.1145\/337180.337184"},{"issue":"1","key":"278_CR35","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1186\/s40165-014-0009-8","volume":"1","author":"A Pourshahid","year":"2014","unstructured":"Pourshahid A, Johari I, Richards G, Amyot D, Akhigbe OS (2014) A goal-oriented, business intelligence-supported decision-making methodology. Decis Anal 1(1):9. doi: 10.1186\/s40165-014-0009-8","journal-title":"Decis Anal"},{"key":"278_CR36","doi-asserted-by":"publisher","unstructured":"Amyot D, Shamsaei A, Kealey J, Tremblay E, Miga A, Mussbacher G, Alhaj M, Tawhid R, Braun E, Cartwright N (2012) Towards advanced goal model analysis with jUCMNav. In: Castano S, Vassiliadis P, Lakshmanan L, Lee M (eds) Advances in conceptual modeling, vol 7518. Lecture notes in computer science. Springer, Berlin, pp 201\u2013210. doi: 10.1007\/978-3-642-33999-8_25","DOI":"10.1007\/978-3-642-33999-8_25"},{"issue":"3","key":"278_CR37","doi-asserted-by":"publisher","first-page":"285","DOI":"10.1016\/s1389-1286(03)00244-5","volume":"42","author":"D Amyot","year":"2003","unstructured":"Amyot D (2003) Introduction to the user requirements notation: learning by example. Comput Netw 42(3):285\u2013301. doi: 10.1016\/s1389-1286(03)00244-5","journal-title":"Comput Netw"},{"key":"278_CR38","doi-asserted-by":"publisher","unstructured":"ANSI\/AIAA (2012) Guide to the preparation of operational concept documents (ANSI\/AIAA G-043A-2012). American Institute of Aeronautics and Astronautics, 1801 Alexander Bell Drive, Reston, VA 20191. doi: 10.2514\/4.869297.001","DOI":"10.2514\/4.869297.001"},{"key":"278_CR39","doi-asserted-by":"crossref","unstructured":"Vassev E, Hinchey M (2013) Autonomy requirements engineering: a case study on the BepiColombo mission. Paper presented at the proceedings of the international C* conference on computer science and software engineering, Porto, Portugal","DOI":"10.1145\/2494444.2494472"},{"key":"278_CR40","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4613-1299-4","volume-title":"The simulation metamodel","author":"LW Friedman","year":"1996","unstructured":"Friedman LW (1996) The simulation metamodel. Kluwer, Nurwell"},{"issue":"1","key":"278_CR41","doi-asserted-by":"publisher","first-page":"1706","DOI":"10.1002\/j.2334-5837.2005.tb00783.x","volume":"15","author":"AM Ross","year":"2005","unstructured":"Ross AM, Hastings DE (2005) The tradespace exploration paradigm. INCOSE Int Symp 15(1):1706\u20131718. doi: 10.1002\/j.2334-5837.2005.tb00783.x","journal-title":"INCOSE Int Symp"},{"key":"278_CR42","volume-title":"Design and analysis of experiments","author":"DC Montgomery","year":"2009","unstructured":"Montgomery DC (2009) Design and analysis of experiments, 7th edn. Wiley, Hoboken","edition":"7"},{"issue":"2","key":"278_CR43","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1016\/j.ejor.2004.02.005","volume":"164","author":"JPC Kleijnen","year":"2005","unstructured":"Kleijnen JPC (2005) An overview of the design and analysis of simulation experiments for sensitivity analysis. Eur J Oper Res 164(2):287\u2013300. doi: 10.1016\/j.ejor.2004.02.005","journal-title":"Eur J Oper Res"},{"key":"278_CR44","unstructured":"Neace KS (in review) Autonomy requirements engineering for UAS using a model based system engineering approach. The George Washington University, Washington, DC"},{"issue":"8","key":"278_CR45","doi-asserted-by":"publisher","first-page":"636","DOI":"10.1002\/rob.20304","volume":"26","author":"KS Pratt","year":"2009","unstructured":"Pratt KS, Murphy R, Stover S, Griffin C (2009) CONOPS and autonomy recommendations for VTOL MAVs based on observations of Hurricane Katrina UAV operations. J Field Robot 26(8):636\u2013650. doi: 10.1002\/rob.20304","journal-title":"J Field Robot"},{"key":"278_CR46","unstructured":"Manual for First Responders to a Radiological Emergency (2006) IAEA, Vienna"},{"key":"278_CR47","doi-asserted-by":"publisher","DOI":"10.1007\/s00766-016-0263-5","author":"CM Nguyen","year":"2016","unstructured":"Nguyen CM, Sebastiani R, Giorgini P, Mylopoulos J (2016) Multi-objective reasoning with constrained goal models. Requir Eng. doi: 10.1007\/s00766-016-0263-5","journal-title":"Requir Eng"},{"issue":"C","key":"278_CR48","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1016\/j.jss.2015.05.028","volume":"107","author":"M Ahmad","year":"2015","unstructured":"Ahmad M, Belloir N, Bruel J-M (2015) Modeling and verification of functional and non-functional requirements of ambient self-adaptive systems. J Syst Softw 107(C):50\u201370. doi: 10.1016\/j.jss.2015.05.028","journal-title":"J Syst Softw"},{"key":"278_CR49","doi-asserted-by":"publisher","DOI":"10.1007\/s00766-015-0236-0","author":"M Morandini","year":"2015","unstructured":"Morandini M, Penserini L, Perini A, Marchetto A (2015) Engineering requirements for adaptive systems. Requir Eng. doi: 10.1007\/s00766-015-0236-0","journal-title":"Requir Eng"},{"issue":"2","key":"278_CR50","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1111\/j.1467-8640.2012.00445.x","volume":"29","author":"M Klenk","year":"2013","unstructured":"Klenk M, Molineaux M, Aha DW (2013) Goal-driven autonomy for responding to unexpected events in strategy simulations. Comput Intell 29(2):187\u2013206. doi: 10.1111\/j.1467-8640.2012.00445.x","journal-title":"Comput Intell"},{"key":"278_CR51","doi-asserted-by":"crossref","unstructured":"Molineaux M, Klenk M, Aha DW (2010) Goal-driven autonomy in a Navy strategy simulation. In: Twenty-fourth AAAI conference on artificial intelligence. AAAI Press","DOI":"10.1609\/aaai.v24i1.7576"},{"key":"278_CR52","doi-asserted-by":"publisher","unstructured":"Bencomo N (2013) Requirements for Self-adaptation. In: L\u00e4mmel R, Saraiva J, Visser J (eds) Generative and transformational techniques in software engineering IV: international summer school, GTTSE 2011, Braga, Portugal, July 3\u20139, 2011. Revised Papers. Springer, Berlin, pp 271\u2013296. doi: 10.1007\/978-3-642-35992-7_7","DOI":"10.1007\/978-3-642-35992-7_7"},{"key":"278_CR53","unstructured":"Souza VES, Lapouchnian A, Robinson WN, Mylopoulos J (2011) Awareness requirements for adaptive systems. Paper presented at the proceedings of the 6th international symposium on software engineering for adaptive and self-managing systems, Waikiki, Honolulu, HI, USA"},{"key":"278_CR54","doi-asserted-by":"publisher","unstructured":"Bencomo N, Belaggoun A (2013) Supporting Decision-Making for Self-Adaptive Systems: From Goal Models to Dynamic Decision Networks. In: Doerr J, Opdahl AL (eds) Requirements Engineering: Foundation for Software Quality: 19th International Working Conference, REFSQ 2013, Essen, Germany, April 8-11, 2013. Proceedings. Springer Berlin Heidelberg, Berlin, Heidelberg, pp 221-236. doi: 10.1007\/978-3-642-37422-7_16","DOI":"10.1007\/978-3-642-37422-7_16"},{"issue":"1","key":"278_CR55","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00766-011-0132-1","volume":"18","author":"F Dalpiaz","year":"2013","unstructured":"Dalpiaz F, Giorgini P, Mylopoulos J (2013) Adaptive socio-technical systems: a requirements-based approach. Requir Eng 18(1):1\u201324. doi: 10.1007\/s00766-011-0132-1","journal-title":"Requir Eng"},{"key":"278_CR56","doi-asserted-by":"publisher","unstructured":"Abid M, Amyot D, Som\u00e9 S, Mussbacher G (2009) A UML profile for goal-oriented modeling. In: Reed R, Bilgic A, Gotzhein R (eds) SDL 2009: design for motes and mobiles, vol 5719. Lecture notes in computer science. Springer, Berlin, pp 133\u2013148. doi: 10.1007\/978-3-642-04554-7_9","DOI":"10.1007\/978-3-642-04554-7_9"}],"container-title":["Requirements Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00766-017-0278-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00766-017-0278-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00766-017-0278-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,8,24]],"date-time":"2023-08-24T15:28:35Z","timestamp":1692890915000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00766-017-0278-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7,18]]},"references-count":56,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2018,11]]}},"alternative-id":["278"],"URL":"https:\/\/doi.org\/10.1007\/s00766-017-0278-6","relation":{},"ISSN":["0947-3602","1432-010X"],"issn-type":[{"type":"print","value":"0947-3602"},{"type":"electronic","value":"1432-010X"}],"subject":[],"published":{"date-parts":[[2017,7,18]]}}}