{"id":"https://openalex.org/W2040475541","doi":"https://doi.org/10.1109/icra.2014.6907400","title":"Hierarchical Multi-objective planning: From mission specifications to contingency management","display_name":"Hierarchical Multi-objective planning: From mission specifications to contingency management","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2040475541","doi":"https://doi.org/10.1109/icra.2014.6907400","mag":"2040475541"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5046771445","display_name":"Xuchu Dennis Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159603","display_name":"United Technologies Research Center","ror":"https://ror.org/04vxc1c96","country_code":"IE","type":"company","lineage":["https://openalex.org/I4210159603"]},{"id":"https://openalex.org/I3017401281","display_name":"Raytheon Technologies (Finland)","ror":"https://ror.org/057a9rf33","country_code":"FI","type":"company","lineage":["https://openalex.org/I1306686416","https://openalex.org/I3017401281"]}],"countries":["FI","IE"],"is_corresponding":true,"raw_author_name":"Xuchu Dennis Ding","raw_affiliation_strings":["United Technologies Research Center"],"affiliations":[{"raw_affiliation_string":"United Technologies Research Center","institution_ids":["https://openalex.org/I3017401281","https://openalex.org/I4210159603"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044251670","display_name":"Brendan Englot","orcid":"https://orcid.org/0000-0002-7966-2917"},"institutions":[{"id":"https://openalex.org/I4210159603","display_name":"United Technologies Research Center","ror":"https://ror.org/04vxc1c96","country_code":"IE","type":"company","lineage":["https://openalex.org/I4210159603"]},{"id":"https://openalex.org/I3017401281","display_name":"Raytheon Technologies (Finland)","ror":"https://ror.org/057a9rf33","country_code":"FI","type":"company","lineage":["https://openalex.org/I1306686416","https://openalex.org/I3017401281"]}],"countries":["FI","IE"],"is_corresponding":false,"raw_author_name":"Brendan Englot","raw_affiliation_strings":["United Technologies Research Center"],"affiliations":[{"raw_affiliation_string":"United Technologies Research Center","institution_ids":["https://openalex.org/I3017401281","https://openalex.org/I4210159603"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006764452","display_name":"Alessandro Pinto","orcid":"https://orcid.org/0000-0001-8308-311X"},"institutions":[{"id":"https://openalex.org/I4210159603","display_name":"United Technologies Research Center","ror":"https://ror.org/04vxc1c96","country_code":"IE","type":"company","lineage":["https://openalex.org/I4210159603"]},{"id":"https://openalex.org/I3017401281","display_name":"Raytheon Technologies (Finland)","ror":"https://ror.org/057a9rf33","country_code":"FI","type":"company","lineage":["https://openalex.org/I1306686416","https://openalex.org/I3017401281"]}],"countries":["FI","IE"],"is_corresponding":false,"raw_author_name":"Alessandro Pinto","raw_affiliation_strings":["United Technologies Research Center"],"affiliations":[{"raw_affiliation_string":"United Technologies Research Center","institution_ids":["https://openalex.org/I3017401281","https://openalex.org/I4210159603"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027306098","display_name":"Alberto Speranzon","orcid":"https://orcid.org/0000-0002-9203-2901"},"institutions":[{"id":"https://openalex.org/I4210159603","display_name":"United Technologies Research Center","ror":"https://ror.org/04vxc1c96","country_code":"IE","type":"company","lineage":["https://openalex.org/I4210159603"]},{"id":"https://openalex.org/I3017401281","display_name":"Raytheon Technologies (Finland)","ror":"https://ror.org/057a9rf33","country_code":"FI","type":"company","lineage":["https://openalex.org/I1306686416","https://openalex.org/I3017401281"]}],"countries":["FI","IE"],"is_corresponding":false,"raw_author_name":"Alberto Speranzon","raw_affiliation_strings":["United Technologies Research Center"],"affiliations":[{"raw_affiliation_string":"United Technologies Research Center","institution_ids":["https://openalex.org/I3017401281","https://openalex.org/I4210159603"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054958460","display_name":"Amit Surana","orcid":"https://orcid.org/0000-0002-6409-5139"},"institutions":[{"id":"https://openalex.org/I4210159603","display_name":"United Technologies Research Center","ror":"https://ror.org/04vxc1c96","country_code":"IE","type":"company","lineage":["https://openalex.org/I4210159603"]},{"id":"https://openalex.org/I3017401281","display_name":"Raytheon Technologies (Finland)","ror":"https://ror.org/057a9rf33","country_code":"FI","type":"company","lineage":["https://openalex.org/I1306686416","https://openalex.org/I3017401281"]}],"countries":["FI","IE"],"is_corresponding":false,"raw_author_name":"Amit Surana","raw_affiliation_strings":["United Technologies Research Center"],"affiliations":[{"raw_affiliation_string":"United Technologies Research Center","institution_ids":["https://openalex.org/I3017401281","https://openalex.org/I4210159603"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046771445"],"corresponding_institution_ids":["https://openalex.org/I3017401281","https://openalex.org/I4210159603"],"apc_list":null,"apc_paid":null,"fwci":2.6826,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.92204428,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3735","last_page":"3742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.7340854406356812},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7200260162353516},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6721587181091309},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6519136428833008},{"id":"https://openalex.org/keywords/contingency","display_name":"Contingency","score":0.5917946696281433},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.520897626876831},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48966458439826965},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4511439800262451},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4253014922142029},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.37364816665649414},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.36885273456573486},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.36380714178085327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29313725233078003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27773407101631165},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.187394380569458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12088769674301147}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7340854406356812},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7200260162353516},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6721587181091309},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6519136428833008},{"id":"https://openalex.org/C97508593","wikidata":"https://www.wikidata.org/wiki/Q1359069","display_name":"Contingency","level":2,"score":0.5917946696281433},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.520897626876831},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48966458439826965},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4511439800262451},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4253014922142029},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.37364816665649414},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36885273456573486},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.36380714178085327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29313725233078003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27773407101631165},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.187394380569458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12088769674301147},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W119169328","https://openalex.org/W1540883472","https://openalex.org/W1886277008","https://openalex.org/W1904799423","https://openalex.org/W1971086298","https://openalex.org/W2012136789","https://openalex.org/W2031179263","https://openalex.org/W2048563056","https://openalex.org/W2051956023","https://openalex.org/W2090582776","https://openalex.org/W2103052138","https://openalex.org/W2104241562","https://openalex.org/W2113222527","https://openalex.org/W2116341587","https://openalex.org/W2127456145","https://openalex.org/W2135639338","https://openalex.org/W2167372206","https://openalex.org/W2169742265","https://openalex.org/W2953349777","https://openalex.org/W2963642375","https://openalex.org/W6658161899","https://openalex.org/W6658610927","https://openalex.org/W6662381374"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W2009064992","https://openalex.org/W3095977506","https://openalex.org/W4287622735","https://openalex.org/W3183867501","https://openalex.org/W2059470663"],"abstract_inverted_index":{"We":[0,16,59,101],"propose":[1],"a":[2,89,97,103,110,122,139,148,151,165,176,184],"hierarchical":[3],"planning":[4,8,22,42,134],"framework":[5,36,63,108],"for":[6],"mission":[7,29,57,149,162,194],"and":[9,13,52,79,121,183,191],"execution":[10],"in":[11,23,50,138,150],"uncertain":[12,159],"dynamic":[14,158],"environments.":[15],"consider":[17],"missions":[18],"that":[19,61,93,171],"involve":[20],"motion":[21],"large,":[24],"cluttered":[25],"environments,":[26],"trading":[27],"off":[28],"objectives":[30],"while":[31],"satisfying":[32],"logical/spatial/temporal":[33],"constraints.":[34],"Our":[35],"enables":[37],"the":[38,41,48,56,72,118,129,173],"decomposition":[39],"of":[40,55,106,178,186,193],"problem":[43],"across":[44],"different":[45],"layers,":[46],"leveraging":[47],"difference":[49],"spatial":[51],"temporal":[53],"scales":[54],"objectives.":[58],"show":[60,102],"this":[62],"facilitates":[64],"contingency":[65],"management":[66],"under":[67,157],"unanticipated":[68],"events.":[69],"Interaction":[70],"between":[71],"various":[73],"layers":[74],"requires":[75],"consistent":[76],"model":[77],"abstractions":[78],"common":[80],"message":[81],"semantics.":[82],"To":[83],"satisfy":[84],"these":[85],"requirements,":[86],"we":[87],"adopt":[88],"generic":[90],"knowledge-based":[91],"architecture":[92],"is":[94,136,145],"independent":[95],"from":[96],"specific":[98,104],"application":[99],"domain.":[100],"instance":[105],"our":[107],"using":[109],"Constrained":[111],"Markov":[112],"Decision":[113],"Process":[114],"(CMDP)":[115],"planner":[116,127],"at":[117,128],"higher":[119],"level":[120],"Multi-Objective":[123],"Probabilistic":[124],"Roadmap":[125],"(MO-PRM)":[126],"lower":[130],"level.":[131],"The":[132,161],"resulting":[133],"system":[135],"tested":[137],"realistic":[140],"scenario":[141],"where":[142],"an":[143],"agent":[144],"tasked":[146],"with":[147],"large":[152],"urban":[153],"threat":[154],"rich":[155],"environment":[156],"conditions.":[160],"specification":[163],"includes":[164],"Linear":[166],"Temporal":[167],"Logic":[168],"(LTL)":[169],"formula":[170],"defines":[172],"desired":[174],"behaviors,":[175],"list":[177,185],"metrics":[179],"to":[180],"be":[181],"optimized":[182],"constraints":[187],"on":[188],"time,":[189],"resources":[190],"probability":[192],"success.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}