{"id":"https://openalex.org/W4312388552","doi":"https://doi.org/10.1109/iros47612.2022.9981488","title":"A Hierarchical Deliberative Architecture Framework based on Goal Decomposition","display_name":"A Hierarchical Deliberative Architecture Framework based on Goal Decomposition","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312388552","doi":"https://doi.org/10.1109/iros47612.2022.9981488"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981488","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03882759/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079979990","display_name":"Charles Lesire","orcid":"https://orcid.org/0000-0001-8651-5344"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Charles Lesire","raw_affiliation_strings":["ONERA/DTIS, University of Toulouse,France"],"affiliations":[{"raw_affiliation_string":"ONERA/DTIS, University of Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005485701","display_name":"Rafael Bailon-Ruiz","orcid":"https://orcid.org/0000-0002-4896-7953"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rafael Bailon-Ruiz","raw_affiliation_strings":["ONERA/DTIS, University of Toulouse,France"],"affiliations":[{"raw_affiliation_string":"ONERA/DTIS, University of Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110642851","display_name":"Magali Barbier","orcid":null},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Magali Barbier","raw_affiliation_strings":["ONERA/DTIS, University of Toulouse,France"],"affiliations":[{"raw_affiliation_string":"ONERA/DTIS, University of Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081060788","display_name":"Christophe Grand","orcid":"https://orcid.org/0000-0002-2310-8757"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Grand","raw_affiliation_strings":["ONERA/DTIS, University of Toulouse,France"],"affiliations":[{"raw_affiliation_string":"ONERA/DTIS, University of Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I2801658355"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.482,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.658299,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":76,"max":80},"biblio":{"volume":null,"issue":null,"first_page":"9865","last_page":"9870"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9954,"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9954,"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/T12000","display_name":"Systems Engineering Methodologies and Applications","score":0.9952,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9949,"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/task-analysis","display_name":"Task Analysis","score":0.41179907}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7437503},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.69915414},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6652793},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.6588956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5661326},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.41179907},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39368182},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.36573142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36296546},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35993278},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3231156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13582614},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981488","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-03882759","pdf_url":"https://hal.science/hal-03882759/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hal.science/hal-03882759/file/DTIS22214.pdf","pdf_url":"https://hal.science/hal-03882759/file/DTIS22214.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://hal.science/hal-03882759","pdf_url":"https://hal.science/hal-03882759/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":["Centre National de la Recherche Scientifique"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.46,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":32,"referenced_works":["https://openalex.org/W1524692861","https://openalex.org/W1775249002","https://openalex.org/W1793139196","https://openalex.org/W2001680357","https://openalex.org/W2032699766","https://openalex.org/W2035217710","https://openalex.org/W2057235886","https://openalex.org/W2073975664","https://openalex.org/W2100988719","https://openalex.org/W2135639338","https://openalex.org/W2138332512","https://openalex.org/W2138501114","https://openalex.org/W2149280200","https://openalex.org/W2171072500","https://openalex.org/W2198992375","https://openalex.org/W2341139844","https://openalex.org/W2518781608","https://openalex.org/W2567075875","https://openalex.org/W2792006456","https://openalex.org/W2898335085","https://openalex.org/W2903629542","https://openalex.org/W2945278956","https://openalex.org/W2961496436","https://openalex.org/W2967392653","https://openalex.org/W2972154709","https://openalex.org/W2979542251","https://openalex.org/W3028030981","https://openalex.org/W3037590229","https://openalex.org/W3129893034","https://openalex.org/W3179619441","https://openalex.org/W4206457894","https://openalex.org/W4289045132"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W4224278052","https://openalex.org/W4205824991","https://openalex.org/W3200723557","https://openalex.org/W2967461658","https://openalex.org/W2588198209","https://openalex.org/W2380059383","https://openalex.org/W2063679720","https://openalex.org/W1997170567","https://openalex.org/W1909006023"],"abstract_inverted_index":{"Performing":[0],"a":[1,6,25,29,48,67,72,87],"complex":[2,30],"autonomous":[3],"mission":[4],"with":[5,96],"multi-robot":[7],"system":[8,68],"requires":[9,33],"to":[10,15,36,46,57,74,105],"integrate":[11],"several":[12],"deliberative":[13,26,78],"approaches":[14],"perform":[16],"task":[17],"allocation,":[18],"optimization,":[19],"and":[20,56,102],"execution":[21],"control.":[22],"Implementing":[23],"such":[24,77],"architecture":[27],"is":[28],"task:":[31],"it":[32],"the":[34,38,52,84],"developer":[35],"master":[37],"decision":[39],"algorithms":[40],"themselves":[41],"(e.g.,":[42],"automated":[43],"planning":[44,98],"models),":[45],"have":[47],"good":[49],"knowledge":[50],"of":[51,86,90],"involved":[53],"robotic":[54],"platforms,":[55],"think":[58],"about":[59],"how":[60],"these":[61],"elements":[62],"will":[63],"be":[64],"assembled":[65],"as":[66],"architecture.":[69],"We":[70],"propose":[71],"framework":[73,81],"help":[75],"designing":[76],"architectures.":[79],"The":[80],"relies":[82],"on":[83],"concept":[85],"hierarchical":[88],"structure":[89],"actors,":[91],"each":[92],"actor":[93],"managing":[94],"goals":[95],"specific":[97],"or":[99],"optimization":[100],"approaches,":[101],"delegating":[103],"sub-goals":[104],"other":[106],"actors.":[107]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4312388552","counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2024-12-12T17:29:54.728821","created_date":"2023-01-04"}
