{"id":"https://openalex.org/W2211420428","doi":"https://doi.org/10.1109/iros.2015.7354036","title":"Learning to trick cost-based planners into cooperative behavior","display_name":"Learning to trick cost-based planners into cooperative behavior","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2211420428","doi":"https://doi.org/10.1109/iros.2015.7354036","mag":"2211420428"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5005495017","display_name":"Carrie Rebhuhn","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carrie Rebhuhn","raw_affiliation_strings":["Autonomous Agents and Distributed Intelligence Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Agents and Distributed Intelligence Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004046564","display_name":"Ryan Skeele","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Skeele","raw_affiliation_strings":["Robotic Decision Making Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Decision Making Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["Autonomous Agents and Distributed Intelligence Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Agents and Distributed Intelligence Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023976625","display_name":"Geoffrey A. Hollinger","orcid":"https://orcid.org/0000-0001-6502-8950"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geoffrey A. Hollinger","raw_affiliation_strings":["Robotic Decision Making Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Decision Making Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084748531","display_name":"Kagan Tumer","orcid":"https://orcid.org/0009-0007-3809-7257"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kagan Tumer","raw_affiliation_strings":["Autonomous Agents and Distributed Intelligence Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Agents and Distributed Intelligence Lab, Industrial and Manufacturing Engineering, Oregon State University, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4627","last_page":"4633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.66066575050354},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.648634135723114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6324621438980103},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.5209420919418335},{"id":"https://openalex.org/keywords/cost-reduction","display_name":"Cost reduction","score":0.47331178188323975},{"id":"https://openalex.org/keywords/activity-based-costing","display_name":"Activity-based costing","score":0.4657830595970154},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.45052534341812134},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.44398272037506104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3631092607975006},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3587656617164612},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35437721014022827},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.234398752450943},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.1210593581199646}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.66066575050354},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.648634135723114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6324621438980103},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.5209420919418335},{"id":"https://openalex.org/C2778820799","wikidata":"https://www.wikidata.org/wiki/Q3454688","display_name":"Cost reduction","level":2,"score":0.47331178188323975},{"id":"https://openalex.org/C164624739","wikidata":"https://www.wikidata.org/wiki/Q754331","display_name":"Activity-based costing","level":2,"score":0.4657830595970154},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.45052534341812134},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.44398272037506104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3631092607975006},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3587656617164612},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35437721014022827},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.234398752450943},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.1210593581199646},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7354036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354036","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.711.9917","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.711.9917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/rebhuhniros2015final.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.723.6564","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.723.6564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.engr.oregonstate.edu/rdml/sites/research.engr.oregonstate.edu.rdml/files/rebhuhniros15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W138833385","https://openalex.org/W2043579413","https://openalex.org/W2060726785","https://openalex.org/W2064155562","https://openalex.org/W2102327182","https://openalex.org/W2116585604","https://openalex.org/W2121348723","https://openalex.org/W2130519480","https://openalex.org/W2137983211","https://openalex.org/W2140153029","https://openalex.org/W2149125415","https://openalex.org/W2203551375","https://openalex.org/W2734357094","https://openalex.org/W3146803896","https://openalex.org/W6688020001","https://openalex.org/W7008033921"],"related_works":["https://openalex.org/W2610446193","https://openalex.org/W2762832356","https://openalex.org/W3179717505","https://openalex.org/W2998813341","https://openalex.org/W1587227328","https://openalex.org/W160116885","https://openalex.org/W4205578701","https://openalex.org/W3171318484","https://openalex.org/W3041081519","https://openalex.org/W2211420428"],"abstract_inverted_index":{"In":[0],"this":[1,64],"paper":[2],"we":[3,26],"consider":[4],"the":[5,14,22,28,47,50,82,87,93,97,135,143],"problem":[6],"of":[7,30,89,100,110,138],"routing":[8],"autonomously":[9],"guided":[10],"robots":[11,51],"by":[12,127],"manipulating":[13],"cost":[15,83],"space":[16,84],"to":[17,59,69,85],"induce":[18],"safe":[19],"trajectories":[20],"in":[21,34,46,92,134,142],"work":[23],"space.":[24],"Specifically,":[25],"examine":[27],"domain":[29],"UAV":[31,73],"traffic":[32,74,112],"management":[33,75],"urban":[35],"airspaces.":[36],"Each":[37],"robot":[38],"does":[39],"not":[40],"explicitly":[41],"coordinate":[42],"with":[43],"other":[44],"vehicles":[45],"airspace.":[48],"Instead,":[49],"execute":[52],"their":[53],"own":[54],"individual":[55],"internal":[56,98],"cost-based":[57],"planner":[58],"travel":[60],"between":[61],"locations.":[62],"Given":[63],"structure,":[65],"our":[66,128],"goal":[67],"is":[68],"develop":[70],"a":[71,105,121,131],"high-level":[72,111],"(UTM)":[76],"system":[77,109],"that":[78,114],"can":[79],"dynamically":[80],"adapt":[81],"reduce":[86],"number":[88,137],"conflict":[90,139],"incidents":[91,140],"airspace":[94,144],"without":[95],"knowing":[96],"planners":[99],"each":[101,115],"robot.":[102],"We":[103],"propose":[104],"decentralized":[106],"and":[107],"distributed":[108],"controllers":[113],"learn":[116],"appropriate":[117],"costing":[118],"strategies":[119],"via":[120],"neuro-evolutionary":[122],"algorithm.":[123],"The":[124],"policies":[125],"learned":[126],"algorithm":[129],"demonstrated":[130],"16.4%":[132],"reduction":[133],"total":[136],"experienced":[141],"while":[145],"maintaining":[146],"throughput":[147],"performance.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
