{"id":"https://openalex.org/W2783831456","doi":"https://doi.org/10.1109/cdc.2017.8263777","title":"The risk-sensitive coverage problem: Multi-robot routing under uncertainty with service level and survival constraints","display_name":"The risk-sensitive coverage problem: Multi-robot routing under uncertainty with service level and survival constraints","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2783831456","doi":"https://doi.org/10.1109/cdc.2017.8263777","mag":"2783831456"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8263777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033343539","display_name":"Stefan Jorgensen","orcid":"https://orcid.org/0000-0001-6699-937X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Jorgensen","raw_affiliation_strings":["Department of Electrical Engineering, Stanford University, Stanford, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Stanford University, Stanford, California","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009883963","display_name":"Robert H. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I2948394018","display_name":"Northrop Grumman (United States)","ror":"https://ror.org/05kewds18","country_code":"US","type":"company","lineage":["https://openalex.org/I2948394018"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert H. Chen","raw_affiliation_strings":["NG Next, Northrop Grumman, Redondo Beach, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NG Next, Northrop Grumman, Redondo Beach, California","institution_ids":["https://openalex.org/I2948394018"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024975935","display_name":"Mark B. Milam","orcid":null},"institutions":[{"id":"https://openalex.org/I2948394018","display_name":"Northrop Grumman (United States)","ror":"https://ror.org/05kewds18","country_code":"US","type":"company","lineage":["https://openalex.org/I2948394018"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark B. Milam","raw_affiliation_strings":["NG Next, Northrop Grumman, Redondo Beach, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NG Next, Northrop Grumman, Redondo Beach, California","institution_ids":["https://openalex.org/I2948394018"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics & Astronautics, Stanford University, Stanford, California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics & Astronautics, Stanford University, Stanford, California","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6744,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67240664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"925","last_page":"932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9994000196456909,"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/T12288","display_name":"Optimization and Search Problems","score":0.9994000196456909,"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/T10720","display_name":"Complexity and Algorithms in Graphs","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/submodular-set-function","display_name":"Submodular set function","score":0.6633614897727966},{"id":"https://openalex.org/keywords/oracle","display_name":"Oracle","score":0.5379112362861633},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5125467777252197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49577078223228455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49470779299736023},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.48960167169570923},{"id":"https://openalex.org/keywords/bipartite-graph","display_name":"Bipartite graph","score":0.45908915996551514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3775169253349304},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3619263768196106},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.3435118496417999},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3358978033065796},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.324398010969162},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.29800593852996826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11281758546829224}],"concepts":[{"id":"https://openalex.org/C178621042","wikidata":"https://www.wikidata.org/wiki/Q7631710","display_name":"Submodular set function","level":2,"score":0.6633614897727966},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.5379112362861633},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5125467777252197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49577078223228455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49470779299736023},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.48960167169570923},{"id":"https://openalex.org/C197657726","wikidata":"https://www.wikidata.org/wiki/Q174733","display_name":"Bipartite graph","level":3,"score":0.45908915996551514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3775169253349304},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3619263768196106},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.3435118496417999},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3358978033065796},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.324398010969162},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.29800593852996826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11281758546829224},{"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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2017.8263777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1685331108","https://openalex.org/W1967619036","https://openalex.org/W1994724899","https://openalex.org/W2019738489","https://openalex.org/W2027505077","https://openalex.org/W2029828838","https://openalex.org/W2047083748","https://openalex.org/W2052970971","https://openalex.org/W2071109974","https://openalex.org/W2112686410","https://openalex.org/W2138597123","https://openalex.org/W2143996311","https://openalex.org/W2151239055","https://openalex.org/W2346699423","https://openalex.org/W2500139799","https://openalex.org/W2531699011","https://openalex.org/W2588917716","https://openalex.org/W2622090745","https://openalex.org/W3013185133","https://openalex.org/W6680646936"],"related_works":["https://openalex.org/W1595919516","https://openalex.org/W2945022594","https://openalex.org/W2194604332","https://openalex.org/W4379619607","https://openalex.org/W1989453388","https://openalex.org/W2922450688","https://openalex.org/W4313349366","https://openalex.org/W3141561286","https://openalex.org/W4288560659","https://openalex.org/W2125653933"],"abstract_inverted_index":{"Consider":[0],"a":[1,6,13,21,55,85,175],"scenario":[2,179],"where":[3,112,180],"robots":[4,96],"traverse":[5],"graph,":[7],"but":[8],"crossing":[9],"each":[10,39,49,186],"edge":[11],"bears":[12],"risk":[14],"of":[15,23,70,88,95,117,137,150,162,168],"failure.":[16],"A":[17],"team":[18,28],"operator":[19],"seeks":[20],"set":[22,73,87],"paths":[24],"for":[25,83,141,159],"the":[26,31,47,61,71,93,109,114,118,124,134,142,148,163,166],"smallest":[27,110],"which":[29],"guarantee":[30],"probabilities":[32,48],"that":[33,92],"at":[34,189],"least":[35,190],"one":[36],"robot":[37,50],"visits":[38],"node":[40],"satisfy":[41,54],"specified":[42],"per-node":[43],"visit":[44],"thresholds,":[45],"and":[46,76,120,129,165,177],"reaches":[51],"its":[52],"destination":[53],"per-robot":[56,125],"survival":[57,126],"threshold.":[58],"We":[59,90,146],"present":[60],"Risk-Sensitive":[62],"Coverage":[63],"(RSC)":[64],"problem":[65,75],"formally":[66],"as":[67],"an":[68,78,138],"instance":[69],"submodular":[72],"cover":[74],"propose":[77],"efficient":[79],"cost-benefit":[80],"greedy":[81],"algorithm":[82,100],"finding":[84],"feasible":[86],"paths.":[89],"prove":[91],"number":[94],"deployed":[97],"by":[98,153,171],"our":[99,151,169],"is":[101,133],"no":[102],"more":[103],"than":[104],"(\u03bb/ps)(1":[105],"+":[106],"log(\u03bb\u0394\u03ba/ps))":[107],"times":[108],"team,":[111],"\u0394\u03baquantifies":[113],"relative":[115],"benefit":[116],"first":[119],"last":[121],"paths,":[122],"psis":[123],"probability":[127,188],"threshold":[128],"1/\u03bb":[130],"\u2264":[131],"1":[132],"approximation":[135],"factor":[136],"oracle":[139],"routine":[140],"well-known":[143],"orienteering":[144],"problem.":[145],"demonstrate":[147],"quality":[149],"solutions":[152,157],"comparing":[154],"to":[155,174],"optimal":[156],"computed":[158],"special":[160],"cases":[161],"RSC":[164],"efficiency":[167],"approach":[170],"applying":[172],"it":[173],"search":[176],"rescue":[178],"225":[181],"sites":[182],"must":[183],"be":[184],"visited,":[185],"with":[187],"0.95.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
