{"id":"https://openalex.org/W3133143089","doi":"https://doi.org/10.1109/iros45743.2020.9340724","title":"Game Theoretic Formation Design for Probabilistic Barrier Coverage","display_name":"Game Theoretic Formation Design for Probabilistic Barrier Coverage","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133143089","doi":"https://doi.org/10.1109/iros45743.2020.9340724","mag":"3133143089"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5057044271","display_name":"Daigo Shishika","orcid":"https://orcid.org/0000-0002-8514-9634"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daigo Shishika","raw_affiliation_strings":["GRASP Lab at the University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab at the University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074933369","display_name":"Douglas G. Macharet","orcid":"https://orcid.org/0000-0002-1781-7186"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Douglas G. Macharet","raw_affiliation_strings":["GRASP Lab at the University of Pennsylvania, Philadelphia, USA","Universidade Federal de Minas Gerais, Brazil"],"affiliations":[{"raw_affiliation_string":"GRASP Lab at the University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Universidade Federal de Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053858045","display_name":"Brian M. Sadler","orcid":"https://orcid.org/0000-0002-9564-3812"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian M. Sadler","raw_affiliation_strings":["U.S. Army Research Laboratory, Adelphi, MD, USA"],"affiliations":[{"raw_affiliation_string":"U.S. Army Research Laboratory, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab at the University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab at the University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057044271"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.4625,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68740139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"11703","last_page":"11709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.994700014591217,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.994700014591217,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9815999865531921,"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/T11502","display_name":"Facility Location and Emergency Management","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/1407","display_name":"Organizational Behavior and Human Resource Management"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7318730354309082},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6463634371757507},{"id":"https://openalex.org/keywords/stochastic-game","display_name":"Stochastic game","score":0.6173301339149475},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.5848408937454224},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.5784298181533813},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5529607534408569},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5452693700790405},{"id":"https://openalex.org/keywords/strategy","display_name":"Strategy","score":0.42706021666526794},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.41783371567726135},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.41350027918815613},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3449266254901886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23273494839668274},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.19504699110984802},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16409048438072205}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7318730354309082},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6463634371757507},{"id":"https://openalex.org/C22171661","wikidata":"https://www.wikidata.org/wiki/Q1074380","display_name":"Stochastic game","level":2,"score":0.6173301339149475},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.5848408937454224},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.5784298181533813},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5529607534408569},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5452693700790405},{"id":"https://openalex.org/C88959737","wikidata":"https://www.wikidata.org/wiki/Q1546627","display_name":"Strategy","level":3,"score":0.42706021666526794},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.41783371567726135},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.41350027918815613},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3449266254901886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23273494839668274},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.19504699110984802},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16409048438072205},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1578630563","https://openalex.org/W1594997032","https://openalex.org/W1992427414","https://openalex.org/W2000358723","https://openalex.org/W2045870157","https://openalex.org/W2068697354","https://openalex.org/W2099737489","https://openalex.org/W2105115265","https://openalex.org/W2112953516","https://openalex.org/W2120488355","https://openalex.org/W2131605925","https://openalex.org/W2143874329","https://openalex.org/W2145121110","https://openalex.org/W2167872556","https://openalex.org/W2383916780","https://openalex.org/W2508573783","https://openalex.org/W2511466911","https://openalex.org/W2616434112","https://openalex.org/W2617927673","https://openalex.org/W2638058358","https://openalex.org/W2729247968","https://openalex.org/W2973247266","https://openalex.org/W6661711336"],"related_works":["https://openalex.org/W1518504063","https://openalex.org/W4312141693","https://openalex.org/W1536009559","https://openalex.org/W4238645493","https://openalex.org/W2103821767","https://openalex.org/W1969185016","https://openalex.org/W2111030377","https://openalex.org/W1965856819","https://openalex.org/W2306890758","https://openalex.org/W2037619003"],"abstract_inverted_index":{"We":[0],"study":[1],"strategies":[2],"to":[3,6,24,48,54,66,82,95,117],"deploy":[4,55,118],"defenders/sensors":[5],"detect":[7],"intruders":[8,73],"that":[9,71,133],"approach":[10],"a":[11,19,43,109,114,130],"targeted":[12],"region.":[13],"This":[14],"scenario":[15],"is":[16,40,127],"formulated":[17],"as":[18],"barrier":[20],"coverage,":[21,45],"which":[22,90],"aims":[23],"minimize":[25],"the":[26,36,50,72,84,92,98,104,119,124],"number":[27,37],"of":[28,38,86,100,106,123],"unseen":[29],"paths.":[30],"The":[31,121],"problem":[32],"becomes":[33],"challenging":[34],"when":[35],"defenders":[39],"insufficient":[41],"for":[42,68],"full":[44],"requiring":[46],"us":[47],"find":[49],"most":[51],"effective":[52],"location":[53],"them.":[56],"To":[57],"this":[58],"end,":[59],"we":[60,77],"use":[61],"ideas":[62],"from":[63],"game":[64],"theory":[65],"account":[67],"various":[69],"paths":[70],"may":[74],"take.":[75],"Specifically,":[76],"propose":[78],"an":[79,138],"iterative":[80],"algorithm":[81],"refine":[83],"set":[85,105],"candidate":[87,107],"defender":[88],"formations,":[89,108],"uses":[91],"payoff":[93],"matrix":[94],"directly":[96],"evaluate":[97],"utility":[99],"different":[101],"formations.":[102],"Given":[103],"mixed":[110],"Nash":[111],"equilibrium":[112],"gives":[113],"stochastic":[115],"policy":[116],"defenders.":[120],"efficacy":[122],"proposed":[125],"strategy":[126],"demonstrated":[128],"by":[129],"numerical":[131],"analysis":[132],"compares":[134],"our":[135],"method":[136],"with":[137],"existing":[139],"graph-theoretic":[140],"method.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}