{"id":"https://openalex.org/W4401414594","doi":"https://doi.org/10.1109/icra57147.2024.10609977","title":"Decentralized Multi-Agent Active Search and Tracking when Targets Outnumber Agents","display_name":"Decentralized Multi-Agent Active Search and Tracking when Targets Outnumber Agents","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414594","doi":"https://doi.org/10.1109/icra57147.2024.10609977"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10609977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5101786186","display_name":"Arundhati Banerjee","orcid":"https://orcid.org/0000-0001-7287-0441"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Arundhati Banerjee","raw_affiliation_strings":["Carnegie Mellon University,School of Computer Science,Pittsburgh,USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,School of Computer Science,Pittsburgh,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055199976","display_name":"Jeff Schneider","orcid":"https://orcid.org/0000-0002-5080-9073"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeff Schneider","raw_affiliation_strings":["Carnegie Mellon University,School of Computer Science,Pittsburgh,USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,School of Computer Science,Pittsburgh,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101786186"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.5643,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90188458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7229","last_page":"7235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9976000189781189,"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/T12288","display_name":"Optimization and Search Problems","score":0.9976000189781189,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"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":0.989300012588501,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6761462092399597},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5820748805999756},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5708374381065369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.470376193523407},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.46587038040161133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41510605812072754}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6761462092399597},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5820748805999756},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5708374381065369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.470376193523407},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.46587038040161133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41510605812072754},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/icra57147.2024.10609977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":34,"referenced_works":["https://openalex.org/W652333456","https://openalex.org/W1126974217","https://openalex.org/W1483307070","https://openalex.org/W1990511877","https://openalex.org/W2014787937","https://openalex.org/W2050160393","https://openalex.org/W2088373424","https://openalex.org/W2105934661","https://openalex.org/W2142332594","https://openalex.org/W2150440166","https://openalex.org/W2153357054","https://openalex.org/W2155680787","https://openalex.org/W2336416123","https://openalex.org/W2963007936","https://openalex.org/W2986543921","https://openalex.org/W3004751533","https://openalex.org/W3021557823","https://openalex.org/W3102552428","https://openalex.org/W3163679703","https://openalex.org/W3175672857","https://openalex.org/W3206108057","https://openalex.org/W4206325246","https://openalex.org/W4226340328","https://openalex.org/W4289258965","https://openalex.org/W4313288938","https://openalex.org/W4320059742","https://openalex.org/W4327662982","https://openalex.org/W4383108317","https://openalex.org/W4383109278","https://openalex.org/W4391405980","https://openalex.org/W4400352413","https://openalex.org/W6795359075","https://openalex.org/W6798756328","https://openalex.org/W6811818799"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Multi-agent":[0,77],"multi-target":[1],"tracking":[2,78],"has":[3],"a":[4,90,119],"wide":[5],"range":[6],"of":[7,25,44,50,75,84,89,103,124,173,183],"applications,":[8],"including":[9],"wildlife":[10],"patrolling,":[11],"security":[12],"surveillance":[13],"or":[14,35,86],"environment":[15],"monitoring.":[16],"Such":[17],"algorithms":[18,79],"often":[19],"make":[20],"restrictive":[21],"assumptions:":[22],"the":[23,45,48,70,87,101,125,174],"number":[24],"targets":[26,71,152,184],"and/or":[27],"their":[28,73],"initial":[29],"locations":[30],"may":[31,37],"be":[32,38],"assumed":[33],"known,":[34],"agents":[36,60,64],"pre-assigned":[39],"to":[40,67,93,163],"monitor":[41],"disjoint":[42],"partitions":[43],"environment,":[46],"reducing":[47],"burden":[49],"exploration.":[51],"This":[52],"also":[53],"limits":[54],"applicability":[55],"when":[56],"there":[57],"are":[58,65],"fewer":[59],"than":[61],"targets,":[62],"since":[63],"unable":[66],"continuously":[68],"follow":[69],"in":[72,171],"fields":[74],"view.":[76],"additionally":[80],"assume":[81],"inter-agent":[82,165],"synchronization":[83],"observations,":[85],"presence":[88],"central":[91],"controller":[92],"coordinate":[94],"joint":[95],"actions.":[96],"Instead,":[97],"we":[98,157],"focus":[99],"on":[100,149],"setting":[102],"decentralized":[104,138],"multi-agent,":[105],"multi-target,":[106],"simultaneous":[107],"active":[108],"search-and-tracking":[109],"with":[110,134],"asynchronous":[111],"interagent":[112],"communication.":[113],"Our":[114],"proposed":[115],"algorithm":[116],"DecSTER":[117,160],"uses":[118],"sequential":[120],"monte":[121],"carlo":[122],"implementation":[123],"Probability":[126],"Hypothesis":[127],"Density":[128],"filter":[129],"for":[130,137,180],"posterior":[131],"inference":[132],"combined":[133],"Thompson":[135],"sampling":[136],"multi-agent":[139],"decision":[140],"making.":[141],"We":[142],"compare":[143],"different":[144,181],"action":[145],"selection":[146],"policies,":[147],"focusing":[148],"scenarios":[150],"where":[151],"outnumber":[153],"agents.":[154],"In":[155],"simulation,":[156],"demonstrate":[158],"that":[159],"is":[161],"robust":[162],"unreliable":[164],"communication":[166],"and":[167,185],"outperforms":[168],"information-greedy":[169],"baselines":[170],"terms":[172],"Optimal":[175],"Sub-Pattern":[176],"Assignment":[177],"(OSPA)":[178],"metric":[179],"numbers":[182],"varying":[186],"teamsizes.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
