{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T14:44:05Z","timestamp":1779288245290,"version":"3.51.4"},"reference-count":25,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2017,4,1]],"date-time":"2017-04-01T00:00:00Z","timestamp":1491004800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"SARAFun project"},{"name":"EU","award":["H2020"],"award-info":[{"award-number":["H2020"]}]},{"name":"EU","award":["H2020-ICT-2014\/H2020-ICT-2014-1"],"award-info":[{"award-number":["H2020-ICT-2014\/H2020-ICT-2014-1"]}]},{"name":"EU","award":["644938"],"award-info":[{"award-number":["644938"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2017,4]]},"DOI":"10.1109\/tro.2016.2633567","type":"journal-article","created":{"date-parts":[[2016,12,19]],"date-time":"2016-12-19T19:30:43Z","timestamp":1482175843000},"page":"372-389","source":"Crossref","is-referenced-by-count":163,"title":["How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees"],"prefix":"10.1109","volume":"33","author":[{"given":"Michele","family":"Colledanchise","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Petter","family":"Ogren","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"crossref","first-page":"159","DOI":"10.1007\/978-3-642-22000-5_18","article-title":"Extending the JADE agent behaviour model with JBehaviourtrees framework","author":"bojic","year":"2011","journal-title":"Agent and Multi-Agent Systems Technologies and Applications"},{"key":"ref11","doi-asserted-by":"crossref","DOI":"10.2514\/6.2012-4458","article-title":"Increasing modularity of UAV control systems using computer game behavior trees","author":"\u00f6gren","year":"2012","journal-title":"Proc AIAA Guid Navig Control Conf"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385888"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.2514\/6.2013-4636"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907328"},{"key":"ref15","article-title":"Bart—behavior architecture for robotic tasks","author":"galluzzo","year":"2013"},{"key":"ref16","first-page":"3868","article-title":"Semi-autonomous simulated brain tumor ablation with Raven II surgical robot using behavior tree","author":"hu","year":"2015","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140065"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3384\/ecp14096727"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"ref4","doi-asserted-by":"crossref","DOI":"10.1201\/b13169","author":"millington","year":"2009","journal-title":"Artificial Intelligence for Games"},{"key":"ref3","article-title":"Halo 3-building a better battle","author":"isla","year":"2008","journal-title":"Proc Game Developers Conf"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/5.24143"},{"key":"ref5","first-page":"73","author":"rabin","year":"2014","journal-title":"The behavior tree starter kit in Game AI Pro"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TCIAIG.2016.2543661"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1007\/978-3-642-12239-2_11","article-title":"Evolving behaviour trees for the commercial game DEFCON","author":"lim","year":"2010","journal-title":"Applications of Evolutionary Computation"},{"key":"ref2","article-title":"Understanding behavior trees.","author":"champandard","year":"2007"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-25090-3_13"},{"key":"ref1","article-title":"Handling complexity in the Halo 2 AI","author":"isla","year":"2005","journal-title":"Proc Game Developers Conf"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066385"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224797"},{"key":"ref21","first-page":"171?190","article-title":"Learning to fly","author":"sammut","year":"2002","journal-title":"Imitation in Animals and Artifacts"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1145\/362929.362947"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942752"},{"key":"ref25","doi-asserted-by":"crossref","DOI":"10.1007\/978-94-015-7793-9","author":"filippov","year":"1988","journal-title":"Differential Equations With Discontinuous Righthand Sides Control Systems (Mathematics and its Applications Series)"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/7891532\/07790863.pdf?arnumber=7790863","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:20:12Z","timestamp":1642004412000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7790863\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,4]]},"references-count":25,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tro.2016.2633567","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,4]]}}}