{"id":"https://openalex.org/W2408811396","doi":"https://doi.org/10.1109/icra.2016.7487751","title":"Graph-based Cross Entropy method for solving multi-robot decentralized POMDPs","display_name":"Graph-based Cross Entropy method for solving multi-robot decentralized POMDPs","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2408811396","doi":"https://doi.org/10.1109/icra.2016.7487751","mag":"2408811396"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5052169592","display_name":"Shayegan Omidshafiei","orcid":"https://orcid.org/0000-0001-7758-1454"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shayegan Omidshafiei","raw_affiliation_strings":["MIT, Laboratory for Information and Decisio Systems (LIDS), Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Laboratory for Information and Decisio Systems (LIDS), Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I4210087596","display_name":"Qualcomm (United States)","ror":"https://ror.org/002zrf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087596"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["Qualcomm Research, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Qualcomm Research, San Diego, CA, USA","institution_ids":["https://openalex.org/I4210087596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033129735","display_name":"Christopher Amato","orcid":"https://orcid.org/0000-0002-6786-7384"},"institutions":[{"id":"https://openalex.org/I161057412","display_name":"University of New Hampshire","ror":"https://ror.org/01rmh9n78","country_code":"US","type":"education","lineage":["https://openalex.org/I161057412"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Amato","raw_affiliation_strings":["Department of Computer Science, University of New Hampshire, Durham, NH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of New Hampshire, Durham, NH, USA","institution_ids":["https://openalex.org/I161057412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051922492","display_name":"Shih\u2010Yuan Liu","orcid":"https://orcid.org/0000-0003-3148-9147"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shih-Yuan Liu","raw_affiliation_strings":["MIT, Laboratory for Information and Decisio Systems (LIDS), Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Laboratory for Information and Decisio Systems (LIDS), Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["MIT, Laboratory for Information and Decisio Systems (LIDS), Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Laboratory for Information and Decisio Systems (LIDS), Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042445283","display_name":"John Vian","orcid":null},"institutions":[{"id":"https://openalex.org/I1295339012","display_name":"Boeing (United States)","ror":"https://ror.org/04sm5zn07","country_code":"US","type":"company","lineage":["https://openalex.org/I1295339012"]},{"id":"https://openalex.org/I4210115859","display_name":"Behavioral Tech Research, Inc.","ror":"https://ror.org/02843s885","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210115859"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Vian","raw_affiliation_strings":["Boeing Research & Technology, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Boeing Research & Technology, Seattle, WA, USA","institution_ids":["https://openalex.org/I4210115859","https://openalex.org/I1295339012"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5052169592"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.6068,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.95960321,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5395","last_page":"5402"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11729","display_name":"Product Development and Customization","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11729","display_name":"Product Development and Customization","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10328","display_name":"Supply Chain and Inventory Management","score":0.970300018787384,"subfield":{"id":"https://openalex.org/subfields/1404","display_name":"Management Information Systems"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9682999849319458,"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/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.816373348236084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7547107934951782},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.7356314659118652},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6200475096702576},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5170729756355286},{"id":"https://openalex.org/keywords/cross-entropy-method","display_name":"Cross-entropy method","score":0.5128836631774902},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5038062930107117},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.47771787643432617},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.45055556297302246},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4461466372013092},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.432503879070282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43115025758743286},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3496609032154083},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3060052990913391},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2961421310901642},{"id":"https://openalex.org/keywords/combinatorial-optimization","display_name":"Combinatorial optimization","score":0.26152849197387695},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.2602611184120178},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1860482394695282},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.14053502678871155},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1388321816921234},{"id":"https://openalex.org/keywords/quadratic-assignment-problem","display_name":"Quadratic assignment problem","score":0.09016051888465881}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.816373348236084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7547107934951782},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7356314659118652},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6200475096702576},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5170729756355286},{"id":"https://openalex.org/C75782508","wikidata":"https://www.wikidata.org/wiki/Q3333633","display_name":"Cross-entropy method","level":4,"score":0.5128836631774902},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5038062930107117},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.47771787643432617},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.45055556297302246},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4461466372013092},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.432503879070282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43115025758743286},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3496609032154083},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3060052990913391},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2961421310901642},{"id":"https://openalex.org/C52692508","wikidata":"https://www.wikidata.org/wiki/Q1333872","display_name":"Combinatorial optimization","level":2,"score":0.26152849197387695},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.2602611184120178},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1860482394695282},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.14053502678871155},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1388321816921234},{"id":"https://openalex.org/C98036226","wikidata":"https://www.wikidata.org/wiki/Q7268356","display_name":"Quadratic assignment problem","level":3,"score":0.09016051888465881},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W85998123","https://openalex.org/W772397958","https://openalex.org/W1489867102","https://openalex.org/W1554448638","https://openalex.org/W1563965851","https://openalex.org/W1579579904","https://openalex.org/W1670739992","https://openalex.org/W1798373787","https://openalex.org/W1805286982","https://openalex.org/W1886379263","https://openalex.org/W1976195538","https://openalex.org/W1977655452","https://openalex.org/W2082430444","https://openalex.org/W2088956500","https://openalex.org/W2103541323","https://openalex.org/W2109910161","https://openalex.org/W2120420045","https://openalex.org/W2121754545","https://openalex.org/W2121943493","https://openalex.org/W2154533441","https://openalex.org/W2162428884","https://openalex.org/W2163302320","https://openalex.org/W2166533447","https://openalex.org/W2168992242","https://openalex.org/W2290743114","https://openalex.org/W2294192315","https://openalex.org/W3104860527","https://openalex.org/W4231746564","https://openalex.org/W6622433990","https://openalex.org/W6633263652","https://openalex.org/W6633696232","https://openalex.org/W6634752865","https://openalex.org/W6638218530","https://openalex.org/W6638525973","https://openalex.org/W6677872732","https://openalex.org/W6678204714","https://openalex.org/W6678248028","https://openalex.org/W6683064110","https://openalex.org/W6683336107","https://openalex.org/W6684126333","https://openalex.org/W6697106730"],"related_works":["https://openalex.org/W2999848267","https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W131709709"],"abstract_inverted_index":{"This":[0,88],"paper":[1,89],"introduces":[2],"a":[3,16,91,107],"probabilistic":[4],"algorithm":[5,95,103],"for":[6,41],"multi-robot":[7],"decision-making":[8,28],"under":[9],"uncertainty,":[10],"which":[11,30],"can":[12],"be":[13,36],"posed":[14],"as":[15,57,83],"Decentralized":[17,47],"Partially":[18,48],"Observable":[19,49],"Markov":[20],"Decision":[21,51],"Process":[22,52],"(Dec-POMDP).":[23],"Dec-POMDPs":[24],"are":[25],"inherently":[26],"synchronous":[27],"frameworks":[29],"require":[31],"significant":[32],"computational":[33],"resources":[34],"to":[35,67,106],"solved,":[37],"making":[38],"them":[39],"infeasible":[40],"many":[42],"real-world":[43],"robotics":[44],"applications.":[45],"The":[46,102],"Semi-Markov":[50],"(Dec-POSMDP)":[53],"was":[54],"recently":[55],"introduced":[56],"an":[58],"extension":[59],"of":[60],"the":[61,84,98],"Dec-POMDP":[62],"that":[63],"uses":[64],"high-level":[65],"macro-actions":[66],"allow":[68],"large-scale,":[69],"asynchronous":[70],"decision-making.":[71],"However,":[72],"existing":[73,116],"Dec-POSMDP":[74,94,117],"solution":[75,118],"methods":[76],"have":[77],"limited":[78],"scalability":[79],"or":[80],"perform":[81],"poorly":[82],"problem":[85],"size":[86],"grows.":[87],"proposes":[90],"cross-entropy":[92],"based":[93],"motivated":[96],"by":[97],"combinatorial":[99],"optimization":[100],"literature.":[101],"is":[104],"applied":[105],"constrained":[108],"package":[109],"delivery":[110],"domain,":[111],"where":[112],"it":[113],"significantly":[114],"outperforms":[115],"methods.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}