Paper Citation Record · LEDGER

Verification of Behavior Trees with Contingency Monitors

As of 20 August 2026, this Paper Citation Record lists 36 of 36 outbound references and 0 inbound Pith citation observations for arXiv:2411.14162.

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

pith.paper-citation-record.v1
2411.14162 v1

Coverage vector

measured 36 of 36 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-12T15:32:53.063309Z

measured 36 of 36 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

36 of 36 outbound references displayed

verified exact6
verified fuzzy1
unresolved26
parse uncertain0
malformed identifier2
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 4ee15f76-dff4-4353-9fa0-52c6e857053d · outbound

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

Verification of Behavior Trees with Contingency Monitors Available at https://www.behaviortree.dev/docs/tutorial -basics/tutorial_02_basic_ports

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.928647Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2ae703c9-8d32-4030-bc9e-8f526627f51d · outbound

This paper cites Chivukula, Olugbemiga Adekunle, Mu Sun, Marco Caccamo & Lui Sha (2009): The System-Level Simplex Architecture for Improved Real-Time Embedded System Safety.

Verification of Behavior Trees with Contingency Monitors Chivukula, Olugbemiga Adekunle, Mu Sun, Marco Caccamo & Lui Sha (2009): The System-Level Simplex Architecture for Improved Real-Time Embedded System Safety

Reference 2

Resolution: verified exact; doi, observed 2026-08-12T15:32:53.238776Z

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 fd00cf65-a1d9-4b33-9a0f-61da8a03ea70 · outbound

This paper cites ACM Trans.

Verification of Behavior Trees with Contingency Monitors ACM Trans

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.936658Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1fbc8236-23f0-4b9c-803c-8a4f330946bf · outbound

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

Verification of Behavior Trees with Contingency Monitors IEEE Robotics and Automation Letters 5(2), pp

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.940468Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e2c00055-2a12-4a85-992d-3b4d3a82606a · outbound

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

Verification of Behavior Trees with Contingency Monitors IEEE Robotics and Automation Letters 6(3), pp

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.944237Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dd2252a8-19d5-4812-bc91-66d55d475cb7 · outbound

This paper cites In: CA V, pp.

Verification of Behavior Trees with Contingency Monitors In: CA V, pp

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.948113Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9a1fbc28-3a41-4f29-9b37-a5092b5adb62 · outbound

This paper cites In Bernd Finkbeiner & Leonardo Mariani, editors: Runtime Verification, Springer International Publishing, Cham, pp.

Verification of Behavior Trees with Contingency Monitors In Bernd Finkbeiner & Leonardo Mariani, editors: Runtime Verification, Springer International Publishing, Cham, pp

Reference 7

Resolution: verified exact; doi, observed 2026-08-12T15:32:53.216150Z

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 b9aa1ec2-6888-4d6b-878a-9ef3835c6973 · outbound

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

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

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.956490Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a3b518c1-874c-4f3e-89c8-2ccdce697b12 · outbound

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

Verification of Behavior Trees with Contingency Monitors In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.960382Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 86bb1811-795c-4e0c-ad8e-4352fa68b51e · outbound

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

Verification of Behavior Trees with Contingency Monitors In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.964155Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1ba4f982-57a5-421d-8ed8-d7b6844e84b9 · outbound

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

Verification of Behavior Trees with Contingency Monitors IEEE Transactions on Robotics 33(2), pp

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.967895Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0df4f493-7f6b-4116-94f3-39d6378241ab · outbound

This paper cites In Christian Colombo & Martin Leucker, editors: Runtime Verification, Springer International Publishing, Cham, pp.

Verification of Behavior Trees with Contingency Monitors In Christian Colombo & Martin Leucker, editors: Runtime Verification, Springer International Publishing, Cham, pp

Reference 12

Resolution: verified exact; doi, observed 2026-08-12T15:32:53.200847Z

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 d2e7b47e-4ede-4789-b624-3925ce15a83c · outbound

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

Verification of Behavior Trees with Contingency Monitors Available at https://docs.unrealengine.com/4.27/en-US/Interactiv eExperiences/\ArtificialIntelligence/BehaviorTrees/BehaviorTreesOverview/

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.976541Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 70a1e1c4-2088-45a2-8740-02fca0a9e4d0 · outbound

This paper cites Cardoso, Michael Fisher, Davide Ancona, Luca Franceschini & Viviana Mascardi (2020): ROSMonitoring: A Runtime Verification Framework for ROS.

Verification of Behavior Trees with Contingency Monitors Cardoso, Michael Fisher, Davide Ancona, Luca Franceschini & Viviana Mascardi (2020): ROSMonitoring: A Runtime Verification Framework for ROS

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.980139Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 042d756d-f479-4452-8ca6-af6bdaf4c33d · outbound

This paper cites an unresolved cited work.

Verification of Behavior Trees with Contingency Monitors Unresolved cited work

Reference 15

Resolution: verified exact; doi, observed 2026-08-12T15:32:53.180266Z

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 cb8fb53b-9289-42a3-9279-9b1ac879a556 · outbound

This paper cites In Gérard Berry, Hubert Comon & Alain Finkel, editors: Computer Aided Verification, Springer Berlin Heidelberg, Berlin, Heidelberg, pp.

Verification of Behavior Trees with Contingency Monitors In Gérard Berry, Hubert Comon & Alain Finkel, editors: Computer Aided Verification, Springer Berlin Heidelberg, Berlin, Heidelberg, pp

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.988263Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4ce0df6d-f74d-4f53-8514-7cbe00e6ffc7 · outbound

This paper cites In Jan Friso Groote & Kim Guldstrand Larsen, editors: Tools and Algorithms for the Construction and Analysis of Systems, Springer International Publishing, Cham, pp.

Verification of Behavior Trees with Contingency Monitors In Jan Friso Groote & Kim Guldstrand Larsen, editors: Tools and Algorithms for the Construction and Analysis of Systems, Springer International Publishing, Cham, pp

Reference 17

Resolution: malformed identifier; no resolver link, observed 2026-08-12T15:32:52.992219Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0948617d-c2a7-4dd7-a921-9d3097446eee · outbound

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

Verification of Behavior Trees with Contingency Monitors In: 2022 International Conference on Robotics and Automation (ICRA), pp

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.996233Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 106b4ea5-4dcb-4571-b232-710562df7ce3 · outbound

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

Verification of Behavior Trees with Contingency Monitors In Jan Friso Groote & Marieke Huisman, editors: Formal Methods for Industrial Critical Systems, Springer International Publishing, Cham, pp

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:52.999868Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 68493b70-55c6-4b89-9be5-411f511df1e3 · outbound

This paper cites Holzmann (1997): The model checker SPIN.

Verification of Behavior Trees with Contingency Monitors Holzmann (1997): The model checker SPIN

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.003361Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c2d458e1-9c07-4a2c-a535-7c8f5bb2d3d4 · outbound

This paper cites Robotics and Autonomous Systems 154, p.

Verification of Behavior Trees with Contingency Monitors Robotics and Autonomous Systems 154, p

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.006971Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2adcd71c-ab3f-47e4-8203-186c4130572c · outbound

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

Verification of Behavior Trees with Contingency Monitors In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.010182Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b973f994-9fe3-4a25-bba0-7cf946cf4b5f · outbound

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

Verification of Behavior Trees with Contingency Monitors Available at https://move4bt.github.io/

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.013265Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7577c274-53bb-4918-b6bf-2a44ca3b9fd9 · outbound

This paper cites Technical Report Technical Report NASA/TM- 2020-220587, NASA.

Verification of Behavior Trees with Contingency Monitors Technical Report Technical Report NASA/TM- 2020-220587, NASA

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T15:32:54.312165Z

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 dd26b5b2-3d6c-4abc-84cc-2276721d98bd · outbound

This paper cites an unresolved cited work.

Verification of Behavior Trees with Contingency Monitors Unresolved cited work

Reference 25

Resolution: verified exact; doi, observed 2026-08-12T15:32:53.133116Z

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 1dbb66a0-7a83-4a8c-bb1c-30ac06a63d36 · outbound

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

Verification of Behavior Trees with Contingency Monitors IEEE Transactions on Cybernetics53(8), pp

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.023464Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cc92124b-8e8e-4275-bc4b-396bdf8485a3 · outbound

This paper cites Serbinowska & Taylor T.

Verification of Behavior Trees with Contingency Monitors Serbinowska & Taylor T

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.027603Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dbc985a3-d3fc-4a7e-820f-e1487bcf4918 · outbound

This paper cites an unresolved cited work.

Verification of Behavior Trees with Contingency Monitors Unresolved cited work

Reference 28

Resolution: metadata mismatch; raw_fallback, observed 2026-08-12T15:32:53.564458Z

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 0616528c-7b51-4c46-99f3-7be3663f6c77 · outbound

This paper cites Seto & L.

Verification of Behavior Trees with Contingency Monitors Seto & L

Reference 29

Resolution: verified exact; doi, observed 2026-08-12T15:32:53.110647Z

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 727bb8b7-c81b-45b4-9b88-57ab70ff291a · outbound

This paper cites In Marco Hutter & Roland Siegwart, editors: Field and Service Robotics, Springer International Publishing, Cham, pp.

Verification of Behavior Trees with Contingency Monitors In Marco Hutter & Roland Siegwart, editors: Field and Service Robotics, Springer International Publishing, Cham, pp

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.040241Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 20a2b993-2220-426b-bc7b-f7a1f724e487 · outbound

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

Verification of Behavior Trees with Contingency Monitors Sprague & Petter Ögren (2022): Continuous-Time Behavior Trees as Discontinuous Dynamical Systems

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.044157Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f7281453-5e12-4e4f-9c82-0591517f561f · outbound

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

Verification of Behavior Trees with Contingency Monitors Available at https://py-trees.readthedocs.io/en/devel/modules.html

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.048171Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 387f0433-b40f-45ad-9244-2b564dc423f0 · outbound

This paper cites In: 2023 53rd Annual IEEE/IFIP International Conference on Dependable Systems and Networks - Supplemental V olume (DSN-S), pp.

Verification of Behavior Trees with Contingency Monitors In: 2023 53rd Annual IEEE/IFIP International Conference on Dependable Systems and Networks - Supplemental V olume (DSN-S), pp

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.052075Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 59bb09b1-7e61-4554-be2b-bd270c376bca · outbound

This paper cites In: 2021 IEEE International Conference on Robotics and Automation (ICRA) , pp.

Verification of Behavior Trees with Contingency Monitors In: 2021 IEEE International Conference on Robotics and Automation (ICRA) , pp

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.055818Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4b2529be-b1d6-456b-a990-20dabf724c18 · outbound

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

Verification of Behavior Trees with Contingency Monitors IEEE Robotics and Automation Letters 5(4), pp

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-12T15:32:53.059733Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0087ca10-1580-4893-b254-822c5d839dba · outbound

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

Verification of Behavior Trees with Contingency Monitors Sprague (2022): Behavior Trees in Robot Control Systems

Reference 36

Resolution: malformed identifier; no resolver link, observed 2026-08-12T15:32:53.063309Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

No inbound Pith citation observations are available.