{"id":"https://openalex.org/W4413945199","doi":"https://doi.org/10.1109/icra55743.2025.11128121","title":"Heterogeneous Exploration and Monitoring with Online Free-Space Ellipsoid Graphs","display_name":"Heterogeneous Exploration and Monitoring with Online Free-Space Ellipsoid Graphs","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945199","doi":"https://doi.org/10.1109/icra55743.2025.11128121"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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/A5092397646","display_name":"Brennan Brodt","orcid":null},"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":"Brennan Brodt","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/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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25919322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6623","last_page":"6629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9929999709129333,"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"}},"topics":[{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9929999709129333,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9498999714851379,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.917900025844574,"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/ellipsoid","display_name":"Ellipsoid","score":0.8249468207359314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5413640737533569},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4358011484146118},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2895919680595398},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.24304521083831787}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.8249468207359314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5413640737533569},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4358011484146118},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2895919680595398},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.24304521083831787},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W1543983621","https://openalex.org/W1599888605","https://openalex.org/W1816496481","https://openalex.org/W1972391046","https://openalex.org/W2017268736","https://openalex.org/W2044493395","https://openalex.org/W2064155562","https://openalex.org/W2107280071","https://openalex.org/W2108486752","https://openalex.org/W2116226399","https://openalex.org/W2141461755","https://openalex.org/W2144827113","https://openalex.org/W2148442026","https://openalex.org/W2157488300","https://openalex.org/W2169528473","https://openalex.org/W2222512263","https://openalex.org/W2275833727","https://openalex.org/W2407997920","https://openalex.org/W2738456059","https://openalex.org/W2744720501","https://openalex.org/W2782792473","https://openalex.org/W2898326709","https://openalex.org/W2952599778","https://openalex.org/W2967031190","https://openalex.org/W3111602004","https://openalex.org/W4205533104","https://openalex.org/W4213060883","https://openalex.org/W4239616034","https://openalex.org/W4285102255","https://openalex.org/W4388917824","https://openalex.org/W4389666036","https://openalex.org/W4391529008","https://openalex.org/W4391529058","https://openalex.org/W4391549658","https://openalex.org/W4391549660","https://openalex.org/W4394564139","https://openalex.org/W4401415197"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W1986006778","https://openalex.org/W2034124193","https://openalex.org/W2379017606","https://openalex.org/W4211143546","https://openalex.org/W2171970890"],"abstract_inverted_index":{"This":[0,71],"paper":[1],"proposes":[2],"a":[3,60],"heterogeneous":[4],"teaming":[5],"solution":[6],"to":[7,58,75,87,104],"the":[8,55,69,76,102,106],"problem":[9],"of":[10,22,25,32,42,108,125],"target":[11,110],"discovery":[12],"and":[13,36,84,113,134],"monitoring":[14,43,77,114],"in":[15],"unknown,":[16,116],"non-convex":[17,117],"environments.":[18],"The":[19,123],"team":[20,103],"consists":[21],"two":[23],"types":[24],"agents:":[26],"agile":[27],"agents":[28,38,78],"with":[29],"sensors":[30],"capable":[31,41],"mapping":[33],"their":[34],"surroundings":[35],"slower":[37],"that":[39,53],"are":[40],"or":[44],"servicing":[45],"discovered":[46,96],"targets.":[47,97],"We":[48],"propose":[49],"an":[50],"exploration":[51],"algorithm":[52,57],"utilizes":[54],"IRIS":[56],"generate":[59,88],"graph":[61,72],"decomposition":[62],"from":[63],"collision":[64],"free":[65],"ellipses":[66],"contained":[67],"within":[68,115],"environment.":[70],"is":[73,129],"passed":[74],"who":[79],"execute":[80],"polynomial":[81],"complexity":[82,135],"assignment":[83],"touring":[85],"algorithms":[86],"high":[89],"quality":[90],"path":[91],"plans":[92],"which":[93],"service":[94],"all":[95],"Our":[98],"algorithmic":[99],"structure":[100],"allows":[101],"solve":[105],"problems":[107],"exploration,":[109],"discovery,":[111],"assignment,":[112],"environments":[118],"efficiently":[119],"using":[120],"limited":[121],"information.":[122],"performance":[124],"our":[126],"proposed":[127],"method":[128],"verified":[130],"through":[131],"batch":[132],"simulations":[133],"analysis.":[136]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
