{"id":"https://openalex.org/W4285102255","doi":"https://doi.org/10.1109/icra46639.2022.9812306","title":"Free-Space Ellipsoid Graphs for Multi-Agent Target Monitoring","display_name":"Free-Space Ellipsoid Graphs for Multi-Agent Target Monitoring","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102255","doi":"https://doi.org/10.1109/icra46639.2022.9812306"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812306","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","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/A5002978188","display_name":"Aaron Ray","orcid":"https://orcid.org/0000-0002-9407-091X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Ray","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Mas-sachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Mas-sachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035836760","display_name":"Alyssa Pierson","orcid":"https://orcid.org/0000-0002-4885-9119"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alyssa Pierson","raw_affiliation_strings":["Boston University,Department of Mechanical Engineering,Boston,MA,USA,02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University,Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Mas-sachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Mas-sachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"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":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6860","last_page":"6866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9975000023841858,"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":0.9955000281333923,"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/ellipsoid","display_name":"Ellipsoid","score":0.8336143493652344},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6784773468971252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6651312708854675},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5587382912635803},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5569345355033875},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5436188578605652},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5043607950210571},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.49997663497924805},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.46355119347572327},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.42205747961997986},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4162929952144623},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3947299122810364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3683125376701355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32968586683273315},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32094165682792664},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2389349639415741},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1814236044883728},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1527242362499237}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.8336143493652344},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6784773468971252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6651312708854675},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5587382912635803},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5569345355033875},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5436188578605652},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5043607950210571},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.49997663497924805},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.46355119347572327},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.42205747961997986},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4162929952144623},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3947299122810364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3683125376701355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32968586683273315},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32094165682792664},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2389349639415741},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1814236044883728},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1527242362499237},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812306","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G223589181","display_name":null,"funder_award_id":"N00014-18-1-2830","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320309565","display_name":"Boston University","ror":"https://ror.org/05qwgg493"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W1605218591","https://openalex.org/W1976378994","https://openalex.org/W1995813020","https://openalex.org/W2002827932","https://openalex.org/W2006993200","https://openalex.org/W2028678292","https://openalex.org/W2044157824","https://openalex.org/W2092280157","https://openalex.org/W2104846262","https://openalex.org/W2123871098","https://openalex.org/W2138022941","https://openalex.org/W2411429396","https://openalex.org/W2414767203","https://openalex.org/W2418877712","https://openalex.org/W2561923863","https://openalex.org/W2585401210","https://openalex.org/W2783721081","https://openalex.org/W2842089854","https://openalex.org/W2891785675","https://openalex.org/W2963918661","https://openalex.org/W2981079744","https://openalex.org/W2991285418","https://openalex.org/W3011379640","https://openalex.org/W3021557823","https://openalex.org/W3205360279","https://openalex.org/W4200577597","https://openalex.org/W4206055821","https://openalex.org/W4214853430","https://openalex.org/W4246219036","https://openalex.org/W6626973494","https://openalex.org/W6796662456","https://openalex.org/W6806836311"],"related_works":["https://openalex.org/W4315782950","https://openalex.org/W4200235291","https://openalex.org/W1999501950","https://openalex.org/W3197076343","https://openalex.org/W2375716328","https://openalex.org/W2561738499","https://openalex.org/W4288047697","https://openalex.org/W2122841745","https://openalex.org/W2613048653","https://openalex.org/W1965246886"],"abstract_inverted_index":{"We":[0,83],"apply":[1],"a":[2,16,28,34,59,88,96,108],"novel":[3],"framework":[4],"for":[5,42,71,87,110],"decomposing":[6],"and":[7,46,80,115],"reasoning":[8,43],"about":[9,44],"free":[10,25],"space":[11,26],"in":[12,58,74,78,130],"an":[13],"environment":[14],"to":[15,64],"multi-agent":[17,76],"persistent":[18],"monitoring":[19,95,126],"problem.":[20],"Our":[21,101],"decomposition":[22,106],"method":[23],"represents":[24],"as":[27,55,107],"collection":[29],"of":[30,90,98,117,136],"ellipsoids":[31,40],"associated":[32],"with":[33,94,122],"weighted":[35],"connectivity":[36,45],"graph.":[37],"The":[38],"same":[39],"used":[41,54],"distance":[47],"during":[48],"high":[49],"level":[50],"planning":[51],"can":[52],"be":[53],"state":[56],"constraints":[57],"Model":[60],"Predictive":[61],"Control":[62],"algorithm":[63,102],"enforce":[65],"collision-free":[66],"motion.":[67],"This":[68],"structure":[69],"allows":[70],"streamlined":[72],"implementation":[73],"distributed":[75],"tasks":[77],"2D":[79],"3D":[81],"environments.":[82],"illustrate":[84],"its":[85],"effectiveness":[86],"team":[89],"tracking":[91,119,124],"agents":[92,125],"tasked":[93],"group":[97],"target":[99],"agents.":[100,120],"uses":[103],"the":[104,111,118,134],"ellipsoid":[105],"primitive":[109],"coordination,":[112],"path":[113],"planning,":[114],"control":[116],"Simulations":[121],"four":[123],"fifteen":[127],"dynamic":[128],"targets":[129],"obstacle-rich":[131],"environments":[132],"demonstrate":[133],"performance":[135],"our":[137],"algorithm.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
