… It is noted that all these survey papers have covered motion planning, behavior planning, …
literature on the software architecture of AV, with focus on the most important planning layer, is …

… the form of a software architecture, to the software performing … to reduce complexity, the
architecture must support simple, … control system architecture called the Rational Behavior Model (…

… with a module for an object list creation, a module for the behavioral planning and a module
for the creation of dynamic trajectories. These enhancements allow the car to overtake other …

… architecture with an online planning … Behavior Tree robotic software architecture by
constructing specialized subtree structures for adjoint observation, embedding the online planning …

… This permits detection when system behavior falls outside the acceptable range and
modification of component configuration accordingly. Even though this reconfiguration is based on …

… software architecture decision making. We classified papers into decision making behavior
… Using planning poker, the researchers found that concepts used in estimation are anchored …

… process for utilizing architectural behavioral scenario models as … Here, the software architect
models the component & connector … As a future work, we plan to implement this mechanism. …

… the failure behavior of the system for each eligible adaptation strategy. To this end, our
approach uses a software architecture in the form of an Architectural Description Language (ADL) …

… -line planning in architecture-based selfmanagement. This approach enables a software
system to improve its behavior by … software architecture, collecting environmental data, planning …

… Abstract—The goal of this paper is to design a functional software architecture … behavior
planning component integrates data coming from sensors in order to generate an execution plan…