Paper Citation Record · LEDGER

Formalizing Stateful Behavior Trees

As of 20 August 2026, this Paper Citation Record lists 29 of 29 outbound references and 0 inbound Pith citation observations for arXiv:2411.14165.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2411.14165 v1

Coverage vector

measured 29 of 29 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-12T15:32:38.957333Z

measured 29 of 29 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

29 of 29 outbound references displayed

verified exact3
verified fuzzy4
unresolved18
parse uncertain0
malformed identifier1
metadata mismatch3

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 1e023089-cec7-43ac-96e8-9a28303a688c · outbound

This paper cites Available at https://www.behaviortree.dev/docs/tutorial -basics/tutorial_02_basic_ports.

Formalizing Stateful Behavior Trees Available at https://www.behaviortree.dev/docs/tutorial -basics/tutorial_02_basic_ports

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:32:40.309993Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 4a98bdd7-b0b1-47f2-8ee6-f05aea740a16 · outbound

This paper cites IEEE Robotics and Automation Letters 5(2), pp.

Formalizing Stateful Behavior Trees IEEE Robotics and Automation Letters 5(2), pp

Reference 2

Resolution: metadata mismatch; raw_fallback, observed 2026-08-12T15:32:40.249114Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2e76dbd5-f496-448b-b2ca-5c3c3301471a · outbound

This paper cites A principled analysis of Behavior Trees and their generalisations.

Formalizing Stateful Behavior Trees A principled analysis of Behavior Trees and their generalisations

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.838636Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 690972c4-64ec-4c91-a047-a97b52047fee · outbound

This paper cites IEEE Robotics and Automation Letters 6(3), pp.

Formalizing Stateful Behavior Trees IEEE Robotics and Automation Letters 6(3), pp

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.844471Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 23eca693-7ca2-490f-8806-69b707f7c903 · outbound

This paper cites In: CA V, pp.

Formalizing Stateful Behavior Trees In: CA V, pp

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.849503Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 03f607a8-45d7-4a53-b60d-24f515c3466a · outbound

This paper cites Domenichelli, Lorenzo Natale & Armando Tacchella (2021): Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies.

Formalizing Stateful Behavior Trees Domenichelli, Lorenzo Natale & Armando Tacchella (2021): Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.854601Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c74ca903-5e1a-4e31-abcf-0029c8670ef6 · outbound

This paper cites In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.

Formalizing Stateful Behavior Trees In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.859584Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 07ece768-007c-402a-aea4-99f4f837d8f6 · outbound

This paper cites In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.

Formalizing Stateful Behavior Trees In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.864872Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 439a3aac-3c27-4f64-b857-c67884a18d2a · outbound

This paper cites IEEE Transactions on Robotics 33(2), pp.

Formalizing Stateful Behavior Trees IEEE Transactions on Robotics 33(2), pp

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.869625Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1483ba2f-1bf6-40ab-9aa3-6e3df55d8d89 · outbound

This paper cites Tsagarakis (2023): Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees.

Formalizing Stateful Behavior Trees Tsagarakis (2023): Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.874340Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 23f618ce-3b3d-4fe7-978d-b6be2f0cc421 · outbound

This paper cites Dejanovi´c, R.

Formalizing Stateful Behavior Trees Dejanovi´c, R

Reference 11

Resolution: verified exact; doi, observed 2026-08-12T15:32:39.055665Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation e6c11665-8085-4755-8492-4445ac8d6eb8 · outbound

This paper cites 174–187, doi:10.1007/978-3-031-13188-2_9.

Formalizing Stateful Behavior Trees 174–187, doi:10.1007/978-3-031-13188-2_9

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.884083Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b4755291-c6c3-412d-ab3c-cf2c123a22d9 · outbound

This paper cites Available at https://docs.unrealengine.com/4.27/en-US/Interactiv eExperiences/\ArtificialIntelligence/BehaviorTrees/BehaviorTreesOverview/.

Formalizing Stateful Behavior Trees Available at https://docs.unrealengine.com/4.27/en-US/Interactiv eExperiences/\ArtificialIntelligence/BehaviorTrees/BehaviorTreesOverview/

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:32:40.294238Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation d24362ef-21e1-40b1-8c2a-2245173e6d8c · outbound

This paper cites In: Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering: Companion Proceedings , ICSE ’20, Association for Computing Machinery, New York, NY , USA, pp.

Formalizing Stateful Behavior Trees In: Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering: Companion Proceedings , ICSE ’20, Association for Computing Machinery, New York, NY , USA, pp

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.893209Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e5769e29-9c02-43de-be14-c779f30a728b · outbound

This paper cites IEEE Transactions on Software Engineering, pp.

Formalizing Stateful Behavior Trees IEEE Transactions on Software Engineering, pp

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.897158Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bbd73980-4b66-4754-9a4a-233770bc8913 · outbound

This paper cites In: 2022 International Conference on Robotics and Automation (ICRA), pp.

Formalizing Stateful Behavior Trees In: 2022 International Conference on Robotics and Automation (ICRA), pp

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.901194Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 35efbf52-68db-429a-8e55-aaf1bd56a114 · outbound

This paper cites In Jan Friso Groote & Marieke Huisman, editors: Formal Methods for Industrial Critical Systems, Springer International Publishing, Cham, pp.

Formalizing Stateful Behavior Trees In Jan Friso Groote & Marieke Huisman, editors: Formal Methods for Industrial Critical Systems, Springer International Publishing, Cham, pp

Reference 17

Resolution: verified exact; doi, observed 2026-08-12T15:32:39.029754Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c2568e0f-45c7-43d5-a7c1-a8eb3dca5f04 · outbound

This paper cites In: 2022 IEEE International Conference on Unmanned Systems (ICUS), pp.

Formalizing Stateful Behavior Trees In: 2022 IEEE International Conference on Unmanned Systems (ICUS), pp

Reference 18

Resolution: verified exact; raw_fallback, observed 2026-08-12T15:32:39.594606Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation e6f1e922-23d7-4ac4-bbc9-ee814f6fdead · outbound

This paper cites Robotics and Autonomous Systems 154, p.

Formalizing Stateful Behavior Trees Robotics and Autonomous Systems 154, p

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.913833Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 30ee493c-60ad-4deb-91ad-f422b2873a8d · outbound

This paper cites In: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp.

Formalizing Stateful Behavior Trees In: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.917949Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b706bf83-3092-44bd-b5c7-6450411c343c · outbound

This paper cites In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.

Formalizing Stateful Behavior Trees In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp

Reference 21

Resolution: metadata mismatch; raw_fallback, observed 2026-08-12T15:32:39.384841Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 6aa38607-c84d-4a59-81ae-4c266e35c6d6 · outbound

This paper cites an unresolved cited work.

Formalizing Stateful Behavior Trees Unresolved cited work

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.925923Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 69eac69a-c87e-4aa3-be5e-a932f8ec462e · outbound

This paper cites Available at https://move4bt.github.io/.

Formalizing Stateful Behavior Trees Available at https://move4bt.github.io/

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:32:40.278485Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 785e48a0-35a1-4f79-84d0-4994d0e270e9 · outbound

This paper cites IEEE Transactions on Cybernetics53(8), pp.

Formalizing Stateful Behavior Trees IEEE Transactions on Cybernetics53(8), pp

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.934994Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 03e3b89a-dce0-4e96-bcf2-d8bd0c083307 · outbound

This paper cites Serbinowska & Taylor T.

Formalizing Stateful Behavior Trees Serbinowska & Taylor T

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.939324Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 56d7ffd6-5929-4d0e-83b7-e9f0ad9c7909 · outbound

This paper cites Sprague & Petter Ögren (2022): Continuous-Time Behavior Trees as Discontinuous Dynamical Systems.

Formalizing Stateful Behavior Trees Sprague & Petter Ögren (2022): Continuous-Time Behavior Trees as Discontinuous Dynamical Systems

Reference 26

Resolution: metadata mismatch; raw_fallback, observed 2026-08-12T15:32:39.239177Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8f491834-a089-4620-b55c-9c574d2aada4 · outbound

This paper cites Available at https://py-trees.readthedocs.io/en/devel/modules.html.

Formalizing Stateful Behavior Trees Available at https://py-trees.readthedocs.io/en/devel/modules.html

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:32:40.263985Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2773ae9e-6860-4f4e-b97e-3c8c048f22f2 · outbound

This paper cites IEEE Robotics and Automation Letters 5(4), pp.

Formalizing Stateful Behavior Trees IEEE Robotics and Automation Letters 5(4), pp

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:38.952863Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f47ede08-50c4-4a14-bcc0-990b40958211 · outbound

This paper cites Sprague (2022): Behavior Trees in Robot Control Systems.

Formalizing Stateful Behavior Trees Sprague (2022): Behavior Trees in Robot Control Systems

Reference 29

Resolution: malformed identifier; no resolver link, observed 2026-08-12T15:32:38.957333Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

No inbound Pith citation observations are available.