{"id":"https://openalex.org/W2127611356","doi":"https://doi.org/10.1109/coase.2008.4626527","title":"Hydra: A framework and algorithms for mixed-initiative UAV-assisted search and rescue","display_name":"Hydra: A framework and algorithms for mixed-initiative UAV-assisted search and rescue","publication_year":2008,"publication_date":"2008-08-01","ids":{"openalex":"https://openalex.org/W2127611356","doi":"https://doi.org/10.1109/coase.2008.4626527","mag":"2127611356"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2008.4626527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2008.4626527","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/A5015194128","display_name":"Ephrat Bitton","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":"Ephrat Bitton","raw_affiliation_strings":["Departments of IEOR and EECS, University of California, Berkeley, USA","Dept. of IEOR, California Univ., Berkeley, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departments of IEOR and EECS, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of IEOR, California Univ., Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]},{"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":["Department of IEOR, University of California, Berkeley, USA","Departments of IEOR and EECS, University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of IEOR, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Departments of IEOR and EECS, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"61","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9991999864578247,"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":0.9986000061035156,"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/testbed","display_name":"Testbed","score":0.7814353704452515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7801880836486816},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.6581864356994629},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6432977914810181},{"id":"https://openalex.org/keywords/lernaean-hydra","display_name":"Lernaean Hydra","score":0.49694374203681946},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49301430583000183},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.452104777097702},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4416669011116028},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39960983395576477},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34152138233184814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12123620510101318},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10576260089874268}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7814353704452515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7801880836486816},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.6581864356994629},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6432977914810181},{"id":"https://openalex.org/C34781881","wikidata":"https://www.wikidata.org/wiki/Q170379","display_name":"Lernaean Hydra","level":2,"score":0.49694374203681946},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49301430583000183},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.452104777097702},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4416669011116028},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39960983395576477},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34152138233184814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12123620510101318},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10576260089874268},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74916050","wikidata":"https://www.wikidata.org/wiki/Q841090","display_name":"Classics","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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2008.4626527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2008.4626527","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:10.1.1.139.2096","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.139.2096","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/ephrat-CASE08-v14.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1595193718","https://openalex.org/W1944241720","https://openalex.org/W1965555277","https://openalex.org/W1995875735","https://openalex.org/W2007689158","https://openalex.org/W2009864188","https://openalex.org/W2041812579","https://openalex.org/W2100875737","https://openalex.org/W2104450943","https://openalex.org/W2105480835","https://openalex.org/W2111924832","https://openalex.org/W2120171547","https://openalex.org/W2124074025","https://openalex.org/W2127670717","https://openalex.org/W2132174088","https://openalex.org/W2141346996","https://openalex.org/W2142332594","https://openalex.org/W2157351539","https://openalex.org/W2157454320","https://openalex.org/W2171126290","https://openalex.org/W4243441876","https://openalex.org/W6676921484","https://openalex.org/W6684818137"],"related_works":["https://openalex.org/W2128040437","https://openalex.org/W2093732113","https://openalex.org/W2381253015","https://openalex.org/W2141305934","https://openalex.org/W2268219566","https://openalex.org/W2008467200","https://openalex.org/W2089100900","https://openalex.org/W2963237481","https://openalex.org/W2502095280","https://openalex.org/W125660036"],"abstract_inverted_index":{"We":[0,148],"demonstrate":[1],"a":[2,25,57,70,163,179,184],"testbed":[3],"and":[4,9,21,33,75,115,132,141,152,157,168,187],"algorithms":[5,153],"for":[6,183],"collaborative":[7],"human":[8,32],"automated":[10,35],"(or":[11],"mixed-initiative)":[12],"decision":[13],"making":[14],"within":[15],"the":[16,53,76,91,123,128,137],"context":[17],"of":[18,55,73,84,94,120,162],"outdoor":[19],"search":[20,77],"rescue.":[22],"Hydra":[23,112,126],"is":[24,79,87],"networked":[26],"simulation":[27],"tool":[28],"that":[29,171],"allows":[30],"n":[31],"k":[34],"agents":[36,66,99,144,167],"operating":[37],"under":[38,154],"different":[39],"assumptions":[40],"to":[41,122],"share":[42],"control":[43],"over":[44],"m":[45],"unmanned":[46],"aerial":[47],"vehicles":[48],"(UAVs)":[49],"with":[50,52,165],"cameras,":[51],"goal":[54],"locating":[56],"hidden":[58],"subject":[59,138],"\u03b8":[60],"as":[61,63],"quickly":[62],"possible.":[64],"The":[65],"are":[67],"modeled":[68],"on":[69,89,104],"pre-defined":[71],"hierarchy":[72],"authority,":[74],"space":[78],"characterized":[80],"by":[81],"varying":[82],"degrees":[83],"obstructions.":[85],"Search":[86],"based":[88,103],"iterating":[90],"following":[92],"cycle":[93],"four":[95],"steps:":[96],"1)":[97],"all":[98,143],"generate":[100],"image":[101,130],"requests":[102,114],"their":[105,146],"individual":[106],"probability":[107],"density":[108],"functions":[109],"(pdfs),":[110],"2)":[111],"collects":[113],"computes":[116],"an":[117],"optimal":[118],"assignment":[119],"images":[121],"UAVs,":[124],"3)":[125],"processes":[127],"resulting":[129],"data":[131],"specifies":[133],"whether":[134],"or":[135],"not":[136],"was":[139],"detected,":[140],"4)":[142],"update":[145],"pdfs.":[147],"propose":[149],"initial":[150],"models":[151],"this":[155],"framework,":[156],"we":[158],"show":[159],"via":[160],"simulations":[161],"scenario":[164],"three":[166],"one":[169],"UAV":[170],"our":[172],"method":[173],"performs":[174],"57.7":[175],"percent":[176],"better":[177],"than":[178],"theoretical":[180],"upper":[181],"bound":[182],"single":[185],"agent":[186],"UAV.":[188]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}