{"id":"https://openalex.org/W2978367794","doi":"https://doi.org/10.1109/iros45743.2020.9340871","title":"Resilient Coverage: Exploring the Local-to-Global Trade-off","display_name":"Resilient Coverage: Exploring the Local-to-Global Trade-off","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W2978367794","doi":"https://doi.org/10.1109/iros45743.2020.9340871","mag":"2978367794"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340871","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.01917","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028945615","display_name":"Ragesh K. Ramachandran","orcid":"https://orcid.org/0000-0003-4396-0127"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ragesh K. Ramachandran","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065757199","display_name":"Lifeng Zhou James A. Preiss","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lifeng Zhou","raw_affiliation_strings":["Virginia Tech, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":null,"display_name":"James A. Preiss","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James A. Preiss","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":null,"display_name":"Gaurav S. Sukhatme","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav S. Sukhatme","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028945615"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.1618,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50174906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"11740","last_page":"11747"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9984999895095825,"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":0.9984999895095825,"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/T12288","display_name":"Optimization and Search Problems","score":0.9923999905586243,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8621866703033447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708638429641724},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.47097161412239075},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46731942892074585},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.4357186257839203},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4242079257965088},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4108821153640747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2868582308292389},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1607028841972351}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8621866703033447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708638429641724},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.47097161412239075},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46731942892074585},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.4357186257839203},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4242079257965088},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4108821153640747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2868582308292389},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1607028841972351},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros45743.2020.9340871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340871","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"},{"id":"pmh:oai:arXiv.org:1910.01917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.01917","pdf_url":"https://arxiv.org/pdf/1910.01917","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},{"id":"mag:2978367794","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1910.01917.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.01917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.01917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3129527870","is_oa":false,"landing_page_url":"https://robotics.usc.edu/publications/1061/","pdf_url":null,"source":{"id":"https://openalex.org/S4306417662","display_name":"American Control Conference","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"American Control Conference","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.01917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.01917","pdf_url":"https://arxiv.org/pdf/1910.01917","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7003735490","display_name":null,"funder_award_id":"DCIST","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2978367794.pdf","grobid_xml":"https://content.openalex.org/works/W2978367794.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1559956479","https://openalex.org/W1566081062","https://openalex.org/W1580721220","https://openalex.org/W1680189815","https://openalex.org/W1963547452","https://openalex.org/W1964462572","https://openalex.org/W1999071165","https://openalex.org/W2049768161","https://openalex.org/W2111602550","https://openalex.org/W2153239294","https://openalex.org/W2160922842","https://openalex.org/W2167485994","https://openalex.org/W2170411085","https://openalex.org/W2222512263","https://openalex.org/W2481472340","https://openalex.org/W2572839999","https://openalex.org/W2574318813","https://openalex.org/W2600080636","https://openalex.org/W2739335553","https://openalex.org/W2781849003","https://openalex.org/W2886374915","https://openalex.org/W2893322488","https://openalex.org/W2904310653","https://openalex.org/W2962806459","https://openalex.org/W2963918661","https://openalex.org/W3004262245","https://openalex.org/W3100092097","https://openalex.org/W6784966611"],"related_works":["https://openalex.org/W2105848344","https://openalex.org/W2582115406","https://openalex.org/W2084604427","https://openalex.org/W2735322329","https://openalex.org/W2034688899","https://openalex.org/W2911050882","https://openalex.org/W2904377385","https://openalex.org/W2942188143","https://openalex.org/W2911223307","https://openalex.org/W1504699839","https://openalex.org/W3122893231","https://openalex.org/W2201537380","https://openalex.org/W3006806005","https://openalex.org/W3132892002","https://openalex.org/W2947242251","https://openalex.org/W164557272","https://openalex.org/W2124687745","https://openalex.org/W2781014400","https://openalex.org/W2165306276","https://openalex.org/W2784315359"],"abstract_inverted_index":{"We":[0,108,130,179],"propose":[1],"a":[2,11,22,32,40,61,105,153,167,184,190,193],"centralized":[3],"control":[4],"framework":[5,36],"to":[6,20,48,59,103,124,149,182,201],"select":[7],"suitable":[8],"robots":[9,38,56,75,147,210],"from":[10,76],"heterogeneous":[12],"pool":[13],"and":[14,89,120,142,163,211],"place":[15],"them":[16],"at":[17],"appropriate":[18],"locations":[19],"monitor":[21],"region":[23,95],"for":[24,50,152],"events":[25],"of":[26,31,44,64,81,138,145,157,169,176,187,207],"interest.":[27],"In":[28],"the":[29,45,51,67,71,77,82,86,90,94,110,113,121,126,133,136,139,143,150,174,203],"event":[30],"robot":[33,47,88,128,195],"failure,":[34],"our":[35,177],"repositions":[37],"in":[39,189],"user-defined":[41],"local":[42,83,118,140],"neighborhood":[43,84,141,191,204],"failed":[46,87],"compensate":[49],"coverage":[52,92,114,188],"loss.":[53],"If":[54],"repositioning":[55,119,212],"locally":[57],"fails":[58],"attain":[60],"user-specified":[62,106,155],"level":[63,156,186],"desired":[65,91,158],"coverage,":[66],"central":[68],"controller":[69],"augments":[70],"team":[72,151,168],"with":[73,166,192],"additional":[74,146,209],"pool.":[78],"The":[79],"size":[80,137],"around":[85],"over":[93],"are":[96],"two":[97],"objectives":[98],"that":[99,181],"can":[100],"be":[101],"varied":[102],"achieve":[104],"balance.":[107],"investigate":[109],"trade-off":[111],"between":[112,135],"compensation":[115],"achieved":[116],"through":[117],"computation":[122],"required":[123],"plan":[125],"new":[127],"locations.":[129],"also":[131],"study":[132],"relationship":[134],"number":[144],"added":[148],"given":[154],"coverage.":[159],"Through":[160],"extensive":[161],"simulations":[162],"an":[164],"experiment":[165],"seven":[170],"quadrotors":[171],"we":[172],"verify":[173],"effectiveness":[175],"framework.":[178],"show":[180],"reach":[183],"high":[185],"large":[194],"population,":[196],"it":[197],"is":[198],"more":[199],"efficient":[200],"enlarge":[202],"size,":[205],"instead":[206],"adding":[208],"them.":[213]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}