{"id":"https://openalex.org/W2110949694","doi":"https://doi.org/10.1109/coase.2008.4626500","title":"Actuator networks for navigating an unmonitored mobile robot","display_name":"Actuator networks for navigating an unmonitored mobile robot","publication_year":2008,"publication_date":"2008-08-01","ids":{"openalex":"https://openalex.org/W2110949694","doi":"https://doi.org/10.1109/coase.2008.4626500","mag":"2110949694"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2008.4626500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2008.4626500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Automation Science and Engineering","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/A5052200860","display_name":"Jeremy Schiff","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Schiff","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101780825","display_name":"Anand Kulkarni","orcid":"https://orcid.org/0009-0000-2589-8740"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anand Kulkarni","raw_affiliation_strings":["Dept. of Industrial Engineering and Operations Research, University of California, Berkeley, 94720-1777, USA","Department of Industrial Engineering and Operations Research, University of California, Berkeley, 94720-1777, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Industrial Engineering and Operations Research, University of California, Berkeley, 94720-1777, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, University of California, Berkeley, 94720-1777, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051785252","display_name":"Danny Bazo","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danny Bazo","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097992677","display_name":"Vincent Duindamx","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vincent Duindamx","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054819263","display_name":"Dezhen Song","orcid":"https://orcid.org/0000-0002-2944-5754"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dezhen Song","raw_affiliation_strings":["Dept. of Computer Science, Texas A&M University, College Station, 77843-3112, USA","Dept. of Computer Science, Texas A&M University College Station 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Texas A&M University, College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Dept. of Computer Science, Texas A&M University College Station 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"53","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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/actuator","display_name":"Actuator","score":0.7868908643722534},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6545021533966064},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5410394072532654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5345643758773804},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.5250698924064636},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.508936882019043},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4950546324253082},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.46041280031204224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36571282148361206},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20668208599090576},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.1831205189228058},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08062899112701416}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7868908643722534},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6545021533966064},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5410394072532654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5345643758773804},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.5250698924064636},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.508936882019043},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4950546324253082},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.46041280031204224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36571282148361206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20668208599090576},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.1831205189228058},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08062899112701416},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/coase.2008.4626500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2008.4626500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.139.3987","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.139.3987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ieor.berkeley.edu/~goldberg/pubs/jeremyEt-Al-CASE2008-finalSubmission-FINAL.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.163.2696","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.163.2696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.unc.edu/~ron/research/papers/Schiff2008_CASE.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309411","display_name":"University of California Berkeley","ror":"https://ror.org/01an7q238"},{"id":"https://openalex.org/F4320338292","display_name":"Lawrence Berkeley National Laboratory","ror":"https://ror.org/02jbv0t02"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1569054662","https://openalex.org/W1696799614","https://openalex.org/W1756618330","https://openalex.org/W1993711637","https://openalex.org/W2004917780","https://openalex.org/W2014489811","https://openalex.org/W2035616271","https://openalex.org/W2039252979","https://openalex.org/W2099351353","https://openalex.org/W2101684193","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2112501558","https://openalex.org/W2118888944","https://openalex.org/W2127831907","https://openalex.org/W2153612202","https://openalex.org/W2153803890","https://openalex.org/W2491586728","https://openalex.org/W2611243847","https://openalex.org/W4234931164","https://openalex.org/W4250446938","https://openalex.org/W6723668645"],"related_works":["https://openalex.org/W2352472571","https://openalex.org/W1020620338","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459"],"abstract_inverted_index":{"Building":[0],"on":[1,93],"recent":[2],"work":[3],"in":[4,40,177],"sensor-actuator":[5],"networks":[6,17],"and":[7,42,97,144,171],"distributed":[8],"manipulation,":[9],"we":[10],"consider":[11],"the":[12,72,104,109,116,154],"use":[13],"of":[14,56,65,106,115,157],"pure":[15],"actuator":[16,26,121],"for":[18,51],"localization-free":[19],"robotic":[20],"navigation.":[21],"We":[22,135],"show":[23,118],"how":[24],"an":[25,33,44,78,99,120],"network":[27,122,160],"can":[28,123],"be":[29],"used":[30],"to":[31,36,46,61,77,111,165],"guide":[32,125],"unobserved":[34],"robot":[35,73,110],"a":[37,53,63,75,87,132,158],"desired":[38],"location":[39,80],"space":[41],"introduce":[43],"algorithm":[45,85,117],"calculate":[47],"optimal":[48],"actuation":[49,100],"patterns":[50],"such":[52],"network.":[54],"Sets":[55],"actuators":[57],"are":[58],"sequentially":[59],"activated":[60],"induce":[62],"series":[64],"static":[66],"potential":[67],"fields":[68],"that":[69,102,119],"robustly":[70,124],"drive":[71],"from":[74],"start":[76],"end":[79],"under":[81],"movement":[82],"uncertainty.":[83],"Our":[84],"constructs":[86],"roadmap":[88],"with":[89,127,137,162,163],"probability-weighted":[90],"edges":[91],"based":[92],"motion":[94,141],"uncertainty":[95,129,142],"models":[96,130,143],"identifies":[98],"pattern":[101],"maximizes":[103],"probability":[105],"successfully":[107],"guiding":[108],"its":[112],"goal.":[113],"Simulations":[114],"robots":[126],"various":[128],"through":[131],"two-dimensional":[133],"space.":[134],"experiment":[136],"additive":[138,145],"Gaussian":[139,146],"Cartesian":[140],"polar":[147],"models.":[148],"Motion":[149],"randomly":[150],"chosen":[151],"destinations":[152],"within":[153],"convex":[155],"hull":[156],"10-actuator":[159],"succeeds":[161],"up":[164],"93.4%":[166],"probability.":[167],"For":[168],"n":[169],"actuators,":[170],"m":[172],"samples":[173],"per":[174],"transition":[175],"edge":[176],"our":[178,180],"roadmap,":[179],"runtime":[181],"is":[182],"O(mn6).":[183]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
