{"id":"https://openalex.org/W2018713804","doi":"https://doi.org/10.1109/iros.2013.6697122","title":"Getting it right the first time: Robot mission guarantees in the presence of uncertainty","display_name":"Getting it right the first time: Robot mission guarantees in the presence of uncertainty","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2018713804","doi":"https://doi.org/10.1109/iros.2013.6697122","mag":"2018713804"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5037546204","display_name":"Damian M. Lyons","orcid":"https://orcid.org/0000-0003-1460-9741"},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. M. Lyons","raw_affiliation_strings":["Dept. of Computer & Information Science, Fordham University, Bronx, NY, USA","Department of Computer and Information Science , Fordham University , New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer & Information Science, Fordham University, Bronx, NY, USA","institution_ids":["https://openalex.org/I164389053"]},{"raw_affiliation_string":"Department of Computer and Information Science , Fordham University , New York, NY, USA","institution_ids":["https://openalex.org/I164389053"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031550835","display_name":"Ronald C. Arkin","orcid":"https://orcid.org/0000-0003-2798-1817"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. C. Arkin","raw_affiliation_strings":["Mobile Robotics Laboratory, Georgia Institute of Technology, GA, USA","Mobile Robot Lab., Georgia Inst. of Technol., Atlanta, GA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Laboratory, Georgia Institute of Technology, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Mobile Robot Lab., Georgia Inst. of Technol., Atlanta, GA, USA#TAB#","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113105291","display_name":"P. Nirmal","orcid":null},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Nirmal","raw_affiliation_strings":["Dept. of Computer & Information Science, Fordham University, Bronx, NY, USA","Department of Computer and Information Science , Fordham University , New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer & Information Science, Fordham University, Bronx, NY, USA","institution_ids":["https://openalex.org/I164389053"]},{"raw_affiliation_string":"Department of Computer and Information Science , Fordham University , New York, NY, USA","institution_ids":["https://openalex.org/I164389053"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101849424","display_name":"Shu Jiang","orcid":"https://orcid.org/0000-0002-2937-7771"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Jiang","raw_affiliation_strings":["Mobile Robotics Laboratory, Georgia Institute of Technology, GA, USA","Mobile Robot Lab., Georgia Inst. of Technol., Atlanta, GA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Laboratory, Georgia Institute of Technology, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Mobile Robot Lab., Georgia Inst. of Technol., Atlanta, GA, USA#TAB#","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052462317","display_name":"T.-M Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T.-M Liu","raw_affiliation_strings":["Dept. of Computer & Information Science, Fordham University, Bronx, NY, USA","Department of Computer and Information Science , Fordham University , New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer & Information Science, Fordham University, Bronx, NY, USA","institution_ids":["https://openalex.org/I164389053"]},{"raw_affiliation_string":"Department of Computer and Information Science , Fordham University , New York, NY, USA","institution_ids":["https://openalex.org/I164389053"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000917182","display_name":"J. Deeb","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Deeb","raw_affiliation_strings":["Mobile Robotics Laboratory, Georgia Institute of Technology, GA, USA","Mobile Robot Lab., Georgia Inst. of Technol., Atlanta, GA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics Laboratory, Georgia Institute of Technology, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Mobile Robot Lab., Georgia Inst. of Technol., Atlanta, GA, USA#TAB#","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037546204"],"corresponding_institution_ids":["https://openalex.org/I164389053"],"apc_list":null,"apc_paid":null,"fwci":3.3287,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.91967223,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"5292","last_page":"5299"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9951000213623047,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9947999715805054,"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/waypoint","display_name":"Waypoint","score":0.9302553534507751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7343313097953796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.706570565700531},{"id":"https://openalex.org/keywords/bayesian-network","display_name":"Bayesian network","score":0.587671160697937},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5825279355049133},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4914127588272095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4255436956882477},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41348618268966675},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3738778531551361},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12769541144371033},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09923166036605835}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9302553534507751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7343313097953796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.706570565700531},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.587671160697937},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5825279355049133},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4914127588272095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4255436956882477},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41348618268966675},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3738778531551361},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12769541144371033},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09923166036605835},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2013.6697122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.373.1008","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.373.1008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/ai/robot-lab/online-publications/GIRTFT_iros13_v7_finalv1.pdf","raw_type":"text"},{"id":"pmh:oai:fordham.bepress.com:frcv_facultypubs-1045","is_oa":false,"landing_page_url":"https://fordham.bepress.com/frcv_facultypubs/36","pdf_url":null,"source":{"id":"https://openalex.org/S4377196473","display_name":"Fordham Research Commons (Fordham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I164389053","host_organization_name":"Fordham University","host_organization_lineage":["https://openalex.org/I164389053"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/50051","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/50051","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1481397690","https://openalex.org/W1489725951","https://openalex.org/W1544906953","https://openalex.org/W1787255075","https://openalex.org/W1966202403","https://openalex.org/W1967294943","https://openalex.org/W1974905959","https://openalex.org/W2015478183","https://openalex.org/W2034403855","https://openalex.org/W2053216649","https://openalex.org/W2065773189","https://openalex.org/W2067464632","https://openalex.org/W2071103858","https://openalex.org/W2078418093","https://openalex.org/W2081840025","https://openalex.org/W2101206446","https://openalex.org/W2102075452","https://openalex.org/W2111950641","https://openalex.org/W2115433222","https://openalex.org/W2115915261","https://openalex.org/W2124339220","https://openalex.org/W2137351629","https://openalex.org/W2247848363","https://openalex.org/W2294550606","https://openalex.org/W2297172695","https://openalex.org/W2547186421","https://openalex.org/W2913459036","https://openalex.org/W6667273950","https://openalex.org/W6697112065"],"related_works":["https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W4387126713","https://openalex.org/W2612848489","https://openalex.org/W2915444871","https://openalex.org/W2096610529","https://openalex.org/W4389545179"],"abstract_inverted_index":{"Certain":[0],"robot":[1,96],"missions":[2],"need":[3],"to":[4,25,41,55,73],"perform":[5],"predictably":[6],"in":[7,17,32],"a":[8,33,57,74,93],"physical":[9],"environment":[10,68],"that":[11,38,85],"may":[12],"only":[13],"be":[14,53],"poorly":[15],"characterized":[16],"advance.":[18],"We":[19,36],"have":[20],"previously":[21],"developed":[22],"an":[23],"approach":[24],"establishing":[26],"performance":[27],"guarantees":[28],"for":[29,61,77],"behavior-based":[30],"controllers":[31],"process-algebra":[34],"framework.":[35],"extend":[37],"work":[39],"here":[40],"include":[42],"random":[43],"variables,":[44],"and":[45,67],"we":[46,81],"show":[47],"how":[48],"our":[49],"prior":[50],"results":[51,84],"can":[52],"used":[54],"generate":[56],"Dynamic":[58],"Bayesian":[59],"Network":[60],"the":[62,87,90],"coupled":[63],"system":[64],"of":[65,89,92],"program":[66],"model.":[69],"Verification":[70],"is":[71],"reduced":[72],"filtering":[75],"problem":[76],"this":[78,99],"network.":[79],"Finally,":[80],"present":[82],"validation":[83],"demonstrate":[86],"effectiveness":[88],"verification":[91],"multiple":[94],"waypoint":[95],"mission":[97],"using":[98],"approach.":[100]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}