{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T09:58:08Z","timestamp":1776333488501,"version":"3.51.2"},"publisher-location":"New York, NY, USA","reference-count":41,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,5,14]],"date-time":"2024-05-14T00:00:00Z","timestamp":1715644800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,5,14]]},"DOI":"10.1145\/3641513.3650180","type":"proceedings-article","created":{"date-parts":[[2024,5,2]],"date-time":"2024-05-02T18:05:48Z","timestamp":1714673148000},"page":"1-14","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":5,"title":["Temporal Behavior Trees: Robustness and Segmentation"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4596-2479","authenticated-orcid":false,"given":"Sebastian","family":"Schirmer","sequence":"first","affiliation":[{"name":"DLR German Aerospace Center, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-2759-3721","authenticated-orcid":false,"given":"Jasdeep","family":"Singh","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1550-379X","authenticated-orcid":false,"given":"Emily","family":"Jensen","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8287-2376","authenticated-orcid":false,"given":"Johann","family":"Dauer","sequence":"additional","affiliation":[{"name":"DLR German Aerospace Center, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4280-8441","authenticated-orcid":false,"given":"Bernd","family":"Finkbeiner","sequence":"additional","affiliation":[{"name":"CISPA Helmholtz Center for Information Security, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7315-4340","authenticated-orcid":false,"given":"Sriram","family":"Sankaranarayanan","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2024,5,14]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/ASCC.2013.6606326"},{"key":"e_1_3_2_1_2_1","volume-title":"Specification-based monitoring of cyber-physical systems: a survey on theory, tools and applications. Lectures on Runtime Verification: Introductory and Advanced Topics","author":"Bartocci Ezio","year":"2018","unstructured":"Ezio Bartocci, Jyotirmoy Deshmukh, Alexandre Donz\u00e9, Georgios Fainekos, Oded Maler, Dejan Ni\u010dkovi\u0107, and Sriram Sankaranarayanan. 2018. Specification-based monitoring of cyber-physical systems: a survey on theory, tools and applications. Lectures on Runtime Verification: Introductory and Advanced Topics (2018), 135\u2013175."},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77395-5_11"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/2000799.2000800"},{"key":"e_1_3_2_1_5_1","volume-title":"Modal Logic for Open Minds (Lecture Notes)","author":"Benthem Johan\u00a0Van","unstructured":"Johan\u00a0Van Benthem. 2010. Modal Logic for Open Minds (Lecture Notes). CSLI Publications (Stanford University)."},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/3603194"},{"key":"e_1_3_2_1_7_1","volume-title":"Interval temporal logic. URL: http:\/\/www. cms. dmu. ac. uk\/ cau\/itlhomepage\/itlhomepage. html","author":"Cau Antonio","year":"2006","unstructured":"Antonio Cau, Ben Moszkowski, and Hussein Zedan. 2006. Interval temporal logic. URL: http:\/\/www. cms. dmu. ac. uk\/ cau\/itlhomepage\/itlhomepage. html (2006)."},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2020.3029183"},{"key":"e_1_3_2_1_9_1","volume-title":"Behavior trees in robotics and AI: An introduction","author":"Colledanchise Michele","unstructured":"Michele Colledanchise and Petter \u00d6gren. 2018. Behavior trees in robotics and AI: An introduction. CRC Press."},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.5555\/2540128.2540252"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10703-017-0286-7"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.5555\/1885174.1885183"},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/11940197_12"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:FORM.0000017718.28096.48"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/3426425.3426942"},{"key":"e_1_3_2_1_16_1","volume-title":"A hardware semantics based on temporal intervals","author":"Halpern Joseph","unstructured":"Joseph Halpern, Zohar Manna, and Ben Moszkowski. 1983. A hardware semantics based on temporal intervals. In Automata, Languages and Programming, Josep Diaz (Ed.). Springer Berlin Heidelberg, Berlin, Heidelberg, 278\u2013291."},{"key":"e_1_3_2_1_17_1","doi-asserted-by":"publisher","unstructured":"D. Harel and D. Peleg. 1985. Process logic with regular formulas. Theoretical Computer Science 38 (1985). https:\/\/doi.org\/10.1016\/0304-3975(85)90225-7","DOI":"10.1016\/0304-3975(85)90225-7"},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3510003.3510171"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139022"},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3287363"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139738"},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2021.3059676"},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2022.104096"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/CIG.2012.6374177"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2030225"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10472-016-9508-8"},{"key":"e_1_3_2_1_27_1","volume-title":"International colloquium on theoretical aspects of computing","author":"Leucker Martin","unstructured":"Martin Leucker and C\u00e9sar S\u00e1nchez. 2007. Regular linear temporal logic. In International colloquium on theoretical aspects of computing. Springer, 291\u2013305."},{"key":"e_1_3_2_1_28_1","volume-title":"Coroutines: A Programming Methodology, a Language Design, and an Implementation. Ph.\u00a0D. Dissertation","author":"Marlin D","year":"1979","unstructured":"Christopher\u00a0D Marlin. 1979. Coroutines: A Programming Methodology, a Language Design, and an Implementation. Ph.\u00a0D. Dissertation. University of Adelaide, Department of Computing Science."},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2002.1024751"},{"key":"e_1_3_2_1_30_1","volume-title":"Compositionality: The Significant Difference, Willem-Paul de\u00a0Roever","author":"Moszkowski C.","unstructured":"B.\u00a0C. Moszkowski. 1998. Compositional Reasoning using Interval Temporal Logic and Tempura. In Compositionality: The Significant Difference, Willem-Paul de\u00a0Roever, Hans Langmaack, and Amir Pnueli (Eds.). Springer Berlin Heidelberg, Berlin, Heidelberg, 439\u2013464."},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/1462166.1462167"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/2728606.2728628"},{"key":"e_1_3_2_1_33_1","volume-title":"Computational Methods in Systems Biology","author":"Rizk Aur\u00e9lien","unstructured":"Aur\u00e9lien Rizk, Gr\u00e9gory Batt, Fran\u00e7ois Fages, and Sylvain Soliman. 2008. On a Continuous Degree of Satisfaction of Temporal Logic Formulae with Applications to Systems Biology. In Computational Methods in Systems Biology. Springer Berlin Heidelberg, 251\u2013268."},{"key":"e_1_3_2_1_34_1","volume-title":"Proceedings of the First Annual IEEE Symposium on Logic in Computer Science (LICS 1986)","author":"Rosner Roni","year":"1986","unstructured":"Roni Rosner and Amir Pnueli. 1986. A Choppy Logic. In Proceedings of the First Annual IEEE Symposium on Logic in Computer Science (LICS 1986) (Cambridge, MA, USA). IEEE Computer Society Press, 306\u2013313."},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1162\/ARTL_a_00192"},{"key":"e_1_3_2_1_36_1","volume-title":"Abschlussbericht: F&T Studie - Pilotenassistenz f\u00fcr Schiffsdecklandungen (PiloDeck)[Final report: F&T Study - Pilot assitance for ship deck landing (PiloDeck)],. Technical Note AHD-TN-ESPE-302-18","author":"Schmelz T.","year":"2018","unstructured":"T. Schmelz and R. Lantzsch. 2018. Abschlussbericht: F&T Studie - Pilotenassistenz f\u00fcr Schiffsdecklandungen (PiloDeck)[Final report: F&T Study - Pilot assitance for ship deck landing (PiloDeck)],. Technical Note AHD-TN-ESPE-302-18 (2018)."},{"key":"e_1_3_2_1_37_1","article-title":"Maritime operation of an unmanned rotorcraft with tethered ship deck landing system","volume":"12","author":"Schuchardt Bianca\u00a0Isabella","year":"2020","unstructured":"Bianca\u00a0Isabella Schuchardt, Thomas Dautermann, Alexander Donkels, Stefan Krause, Niklas Peinecke, and Gunnar Schwoch. 2020. Maritime operation of an unmanned rotorcraft with tethered ship deck landing system. CEAS Aeronautical Journal 12, 1 (9 2020), 1\u20139. https:\/\/elib.dlr.de\/140951\/","journal-title":"CEAS Aeronautical Journal"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","unstructured":"Aleksandr Sidorenko Jesko Hermann and Martin Ruskowski. 2022. Using Behavior Trees for Coordination of Skills in Modular Reconfigurable CPPMs. In 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA). 1\u20138. https:\/\/doi.org\/10.1109\/ETFA52439.2022.9921558","DOI":"10.1109\/ETFA52439.2022.9921558"},{"key":"e_1_3_2_1_39_1","volume-title":"Formal Modeling and Analysis of Timed Systems","author":"Ulus Dogan","unstructured":"Dogan Ulus, Thomas Ferr\u00e8re, Eugene Asarin, and Oded Maler. 2014. Timed Pattern Matching. In Formal Modeling and Analysis of Timed Systems, Axel Legay and Marius Bozga (Eds.). Springer International Publishing, Cham, 222\u2013236."},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2022.07.022"},{"key":"e_1_3_2_1_41_1","volume-title":"Temporal logic can be more expressive. Information and control 56, 1-2","author":"Wolper Pierre","year":"1983","unstructured":"Pierre Wolper. 1983. Temporal logic can be more expressive. Information and control 56, 1-2 (1983), 72\u201399."}],"event":{"name":"HSCC '24: Computation and Control","location":"Hong Kong SAR China","acronym":"HSCC '24","sponsor":["SIGCHI ACM Special Interest Group on Computer-Human Interaction"]},"container-title":["Proceedings of the 27th ACM International Conference on Hybrid Systems: Computation and Control"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3641513.3650180","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3641513.3650180","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,23]],"date-time":"2025-08-23T00:13:15Z","timestamp":1755907995000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3641513.3650180"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,14]]},"references-count":41,"alternative-id":["10.1145\/3641513.3650180","10.1145\/3641513"],"URL":"https:\/\/doi.org\/10.1145\/3641513.3650180","relation":{},"subject":[],"published":{"date-parts":[[2024,5,14]]},"assertion":[{"value":"2024-05-14","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}