{"id":"https://openalex.org/W4315472112","doi":"https://doi.org/10.1109/cdc51059.2022.9993358","title":"Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process","display_name":"Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315472112","doi":"https://doi.org/10.1109/cdc51059.2022.9993358"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993358","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st 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/A5017567994","display_name":"Guangyao Shi","orcid":"https://orcid.org/0000-0001-5656-1091"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guangyao Shi","raw_affiliation_strings":["University of Maryland,College Park,MD,USA,20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086445949","display_name":"Nare Karapetyan","orcid":"https://orcid.org/0000-0002-0947-3408"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nare Karapetyan","raw_affiliation_strings":["University of Maryland,College Park,MD,USA,20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102771377","display_name":"Ahmad Bilal Asghar","orcid":"https://orcid.org/0000-0001-8201-4710"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmad Bilal Asghar","raw_affiliation_strings":["University of Maryland,College Park,MD,USA,20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012594077","display_name":"Jean-Paul Reddinger","orcid":"https://orcid.org/0000-0002-7488-9047"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Paul Reddinger","raw_affiliation_strings":["DEVCOM Army Research Laboratory,MD,USA","DEVCOM Army Research Laboratory, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory,MD,USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I166416128"]},{"raw_affiliation_string":"DEVCOM Army Research Laboratory, MD, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071125368","display_name":"James M. Dotterweich","orcid":null},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Dotterweich","raw_affiliation_strings":["DEVCOM Army Research Laboratory,MD,USA","DEVCOM Army Research Laboratory, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory,MD,USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I166416128"]},{"raw_affiliation_string":"DEVCOM Army Research Laboratory, MD, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037009889","display_name":"James Humann","orcid":"https://orcid.org/0000-0003-3858-3873"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Humann","raw_affiliation_strings":["DEVCOM Army Research Laboratory,MD,USA","DEVCOM Army Research Laboratory, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory,MD,USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I166416128"]},{"raw_affiliation_string":"DEVCOM Army Research Laboratory, MD, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086188394","display_name":"Pratap Tokekar","orcid":"https://orcid.org/0000-0002-3715-0382"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratap Tokekar","raw_affiliation_strings":["University of Maryland,College Park,MD,USA,20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.8911,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.99444166,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"180","last_page":"187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9909999966621399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.8552883267402649},{"id":"https://openalex.org/keywords/rendezvous","display_name":"Rendezvous","score":0.756340503692627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6809525489807129},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.6729159355163574},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.528840184211731},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.5247021913528442},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5031206011772156},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4230808913707733},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42007097601890564},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4131702780723572},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4108853340148926},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.41041356325149536},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3834133446216583},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3731251358985901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23791399598121643},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1966102123260498},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1766180694103241},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09966257214546204}],"concepts":[{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.8552883267402649},{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.756340503692627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6809525489807129},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.6729159355163574},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.528840184211731},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.5247021913528442},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5031206011772156},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4230808913707733},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42007097601890564},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4131702780723572},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4108853340148926},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.41041356325149536},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3834133446216583},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3731251358985901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23791399598121643},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1966102123260498},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1766180694103241},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09966257214546204},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993358","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1650780448","https://openalex.org/W1977319619","https://openalex.org/W2101075098","https://openalex.org/W2245682929","https://openalex.org/W2530592706","https://openalex.org/W2572445540","https://openalex.org/W2792557859","https://openalex.org/W2798363178","https://openalex.org/W2889851133","https://openalex.org/W2909067415","https://openalex.org/W2947008563","https://openalex.org/W2967031190","https://openalex.org/W2967229477","https://openalex.org/W3045724203","https://openalex.org/W3125377832","https://openalex.org/W3125535900","https://openalex.org/W3129292331","https://openalex.org/W3133418365","https://openalex.org/W3143706442","https://openalex.org/W3184846191","https://openalex.org/W3196621926","https://openalex.org/W4206497039"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W52153049","https://openalex.org/W1760611253","https://openalex.org/W1515117609","https://openalex.org/W1589140671","https://openalex.org/W4323315247","https://openalex.org/W2294884454","https://openalex.org/W3169161914","https://openalex.org/W4321379664","https://openalex.org/W2211790881"],"abstract_inverted_index":{"We":[0,96,136,182,195],"study":[1],"a":[2,34,42,47,133,141,154,184],"chance-constrained":[3],"variant":[4],"of":[5,49,57,89,93,117,125,128,164,199,205],"the":[6,53,58,73,82,87,94,101,113,118,123,161,165,169,174,192,197,203],"cooperative":[7],"aerial-ground":[8],"vehicle":[9],"routing":[10,176],"problem,":[11],"in":[12,99,202],"which":[13,148],"an":[14,24,206],"Unmanned":[15,25],"Aerial":[16],"Vehicle":[17,27],"(UAV)":[18],"with":[19],"limited":[20,54],"battery":[21,55],"capacity":[22,56],"and":[23,71,107,122,209],"Ground":[26],"(UGV)":[28],"that":[29,78,104,112],"can":[30,149],"also":[31],"act":[32],"as":[33,45,140],"mobile":[35],"recharging":[36],"station":[37],"need":[38],"to":[39,52,64,69,109,190],"jointly":[40],"accomplish":[41],"mission":[43],"such":[44,111],"monitoring":[46],"set":[48],"points.":[50],"Due":[51],"UAV,":[59],"two":[60],"vehicles":[61],"sometimes":[62],"have":[63],"deviate":[65],"from":[66],"their":[67],"task":[68],"rendezvous":[70,110],"recharge":[72],"UAV.":[74,95],"Unlike":[75],"prior":[76],"work":[77],"has":[79],"focused":[80],"on":[81],"deterministic":[83],"case,":[84],"we":[85],"address":[86],"challenge":[88],"stochastic":[90],"energy":[91],"consumption":[92,180],"are":[97],"interested":[98],"finding":[100],"optimal":[102],"policy":[103],"decides":[105],"when":[106],"where":[108],"expected":[114],"travel":[115],"time":[116],"UAV":[119],"is":[120,130,168],"minimized":[121],"probability":[124],"running":[126],"out":[127],"charge":[129],"less":[131],"than":[132],"user-defined":[134],"tolerance.":[135],"formulate":[137],"this":[138,167],"problem":[139,193],"Chance":[142],"Constrained":[143,155],"Markov":[144,156],"Decision":[145,157],"Process":[146,158],"(CCMDP),":[147],"be":[150],"equivalently":[151],"transformed":[152],"into":[153],"(CMDP).":[159],"To":[160],"best":[162],"knowledge":[163],"authors,":[166],"first":[170],"CMDP-based":[171],"formulation":[172,201],"for":[173],"UAVUGV":[175],"problems":[177],"under":[178],"power":[179],"uncertainty.":[181],"adopt":[183],"Linear":[185],"Programming":[186],"(LP)":[187],"based":[188],"approach":[189],"solve":[191],"optimally.":[194],"demonstrate":[196],"effectiveness":[198],"our":[200],"context":[204],"Intelligence":[207],"Surveillance":[208],"Reconnaissance":[210],"(ISR)":[211],"mission.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}