{"id":"https://openalex.org/W1501454297","doi":"https://doi.org/10.1109/acc.2015.7171807","title":"Optimal path planning and resource allocation for active target localization","display_name":"Optimal path planning and resource allocation for active target localization","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1501454297","doi":"https://doi.org/10.1109/acc.2015.7171807","mag":"1501454297"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2015.7171807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012214191","display_name":"Charles Freundlich","orcid":"https://orcid.org/0000-0002-6081-7077"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Charles Freundlich","raw_affiliation_strings":["Dept. of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","Department of Mechanical Engineering and Materials Science, Duke University, Durham,#N#NC\u00a027708,#N#USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham,#N#NC\u00a027708,#N#USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024073593","display_name":"Philippos Mordohai","orcid":"https://orcid.org/0000-0002-9671-4408"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]},{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philippos Mordohai","raw_affiliation_strings":["Dept. of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, 07030, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Department of Computer Science, Stevens Institute of Technology, Hoboken, NJ, 07030, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080808780","display_name":"Michael M. Zavlanos","orcid":"https://orcid.org/0000-0003-1748-8228"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael M. Zavlanos","raw_affiliation_strings":["Dept. of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","Department of Mechanical Engineering and Materials Science, Duke University, Durham,#N#NC\u00a027708,#N#USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham,#N#NC\u00a027708,#N#USA","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012214191"],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":2.4524,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.89657459,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3088","last_page":"3093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12288","display_name":"Optimization and Search Problems","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7231483459472656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6460984945297241},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.640866756439209},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5686988830566406},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.552094042301178},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.544200599193573},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.523067057132721},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.471181184053421},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46122294664382935},{"id":"https://openalex.org/keywords/resource-allocation","display_name":"Resource allocation","score":0.44740134477615356},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.43200770020484924},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4297364354133606},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4059380292892456},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25791090726852417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23378393054008484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21206864714622498},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19489938020706177}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7231483459472656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6460984945297241},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.640866756439209},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5686988830566406},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.552094042301178},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.544200599193573},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.523067057132721},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.471181184053421},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46122294664382935},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.44740134477615356},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.43200770020484924},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4297364354133606},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4059380292892456},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25791090726852417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23378393054008484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21206864714622498},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19489938020706177},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2015.7171807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.697.4095","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.697.4095","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.stevens.edu/%7Emordohai/public/Freundlich_OptimalPathPlanning15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1498564476","https://openalex.org/W1518990795","https://openalex.org/W1576452626","https://openalex.org/W1965856149","https://openalex.org/W1969458704","https://openalex.org/W1973162763","https://openalex.org/W2016130656","https://openalex.org/W2019738489","https://openalex.org/W2047796056","https://openalex.org/W2063893967","https://openalex.org/W2093725709","https://openalex.org/W2101421095","https://openalex.org/W2106569506","https://openalex.org/W2114549813","https://openalex.org/W2114954070","https://openalex.org/W2118053528","https://openalex.org/W2119077722","https://openalex.org/W2126230497","https://openalex.org/W2126828687","https://openalex.org/W2133591555","https://openalex.org/W2161674001","https://openalex.org/W2188989666","https://openalex.org/W2509248489","https://openalex.org/W6676724367","https://openalex.org/W6678695039","https://openalex.org/W6725120833"],"related_works":["https://openalex.org/W2788344745","https://openalex.org/W2062336688","https://openalex.org/W3150915502","https://openalex.org/W2910677864","https://openalex.org/W2148213881","https://openalex.org/W2886934452","https://openalex.org/W1489099099","https://openalex.org/W2024369332","https://openalex.org/W1974955043","https://openalex.org/W2067790096"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"optimal":[3,25,109,129],"path":[4],"planning":[5],"and":[6,34,151,180],"resource":[7],"allocation":[8],"for":[9],"active":[10],"multi-target":[11],"localization.":[12],"For":[13],"each":[14,114],"target,":[15,115],"we":[16,116],"solve":[17],"a":[18,40,71,118],"local":[19,97,112],"Dynamic":[20],"Program":[21],"(DP)":[22],"that":[23,75,170,185],"plans":[24],"trajectories":[26,130],"in":[27,47,62],"the":[28,48,56,60,63,80,84,92,96,100,103,108,126,131,138,146,152,157,173,188],"joint":[29],"state-space":[30],"of":[31,50,65,95,102],"robot":[32,51,57],"positions":[33,52],"target":[35,66,81,89,128,148],"location":[36],"uncertainties,":[37],"captured":[38],"by":[39,55,70,156],"cumulative":[41],"error":[42],"covariance":[43,105],"matrix.":[44,106],"The":[45,87,141,160],"transitions":[46,61],"space":[49,64],"are":[53,68],"governed":[54],"dynamics,":[58],"while":[59],"uncertainties":[67,90],"regulated":[69],"Kalman":[72],"filter":[73],"(KF)":[74],"fuses":[76],"new":[77],"information":[78],"about":[79],"locations":[82],"with":[83],"current":[85],"beliefs.":[86],"fused":[88],"enter":[91],"objective":[93],"function":[94],"DP":[98,120],"using":[99],"trace":[101],"associated":[104],"Using":[107],"sensing":[110,158,190],"policies":[111],"to":[113,121,137,176],"construct":[117],"global":[119],"determine":[122],"how":[123],"far":[124],"along":[125],"single":[127],"sensor":[132,174],"should":[133],"travel":[134],"before":[135],"transitioning":[136],"next":[139],"target.":[140],"integrated":[142],"system":[143],"jointly":[144],"optimizes":[145],"collective":[147],"localization":[149],"uncertainty":[150,179],"total":[153],"distance":[154],"traveled":[155],"agent.":[159],"proposed":[161],"control":[162],"scheme":[163],"is":[164],"more":[165,181],"computationally":[166],"efficient":[167],"than":[168,183],"methods":[169,184],"use":[171],"only":[172],"configuration":[175],"compute":[177],"future":[178],"exact":[182],"abstract":[186],"away":[187],"filtered":[189],"uncertainty.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
