{"id":"https://openalex.org/W3132052056","doi":"https://doi.org/10.1109/iros45743.2020.9340997","title":"Autonomous Detection and Assessment with Moving Sensors","display_name":"Autonomous Detection and Assessment with Moving Sensors","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132052056","doi":"https://doi.org/10.1109/iros45743.2020.9340997","mag":"3132052056"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340997","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/A5089816708","display_name":"Steven J. Spencer","orcid":"https://orcid.org/0000-0002-1732-5261"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven J. Spencer","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049866282","display_name":"Anup Parikh","orcid":"https://orcid.org/0000-0003-3120-1721"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anup Parikh","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052876306","display_name":"Daniel R. McArthur","orcid":"https://orcid.org/0000-0002-1736-405X"},"institutions":[{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel R. McArthur","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103934220","display_name":"Carol Young","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carol C. Young","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035875582","display_name":"Timothy Blada","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy J. Blada","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046754145","display_name":"Jonathon E. Slightam","orcid":"https://orcid.org/0000-0002-4035-6656"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathon E. Slightam","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033526285","display_name":"Stephen Buerger","orcid":"https://orcid.org/0000-0001-8003-8938"},"institutions":[{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen P. Buerger","raw_affiliation_strings":["Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Counter Robotics Research and Development group, Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5089816708"],"corresponding_institution_ids":["https://openalex.org/I4210104735","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.20646587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8231","last_page":"8238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9980999827384949,"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9955000281333923,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7227090001106262},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5676395893096924},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.534975528717041},{"id":"https://openalex.org/keywords/false-alarm","display_name":"False alarm","score":0.4676223397254944},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.46483632922172546},{"id":"https://openalex.org/keywords/constant-false-alarm-rate","display_name":"Constant false alarm rate","score":0.4416513741016388},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38415446877479553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14398455619812012}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7227090001106262},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5676395893096924},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.534975528717041},{"id":"https://openalex.org/C2776836416","wikidata":"https://www.wikidata.org/wiki/Q1364844","display_name":"False alarm","level":2,"score":0.4676223397254944},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.46483632922172546},{"id":"https://openalex.org/C77052588","wikidata":"https://www.wikidata.org/wiki/Q644307","display_name":"Constant false alarm rate","level":2,"score":0.4416513741016388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38415446877479553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14398455619812012},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340997","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6299999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332369","display_name":"National Nuclear Security Administration","ror":"https://ror.org/03sk1we31"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1530436485","https://openalex.org/W1935005034","https://openalex.org/W2007148617","https://openalex.org/W2067300766","https://openalex.org/W2103171634","https://openalex.org/W2115033790","https://openalex.org/W2117316555","https://openalex.org/W2149808183","https://openalex.org/W2155183030","https://openalex.org/W2238582461","https://openalex.org/W2294079917","https://openalex.org/W2535803352","https://openalex.org/W2551533013","https://openalex.org/W2619983219","https://openalex.org/W2762003050","https://openalex.org/W2796347433","https://openalex.org/W2883571033","https://openalex.org/W2911191541","https://openalex.org/W2944207845","https://openalex.org/W2957890072","https://openalex.org/W2980060321","https://openalex.org/W3106004627","https://openalex.org/W3138443538","https://openalex.org/W4206012876","https://openalex.org/W4293584584","https://openalex.org/W6640542899","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W2388326001","https://openalex.org/W2998914036","https://openalex.org/W2390565185","https://openalex.org/W1983393909","https://openalex.org/W2040150569","https://openalex.org/W2468095590","https://openalex.org/W2132174924","https://openalex.org/W1911540634","https://openalex.org/W2013909972","https://openalex.org/W1992240613"],"abstract_inverted_index":{"Current":[0],"approaches":[1],"to":[2,79,85,104,130,170,182],"physical":[3,31,217],"security":[4,32],"suffer":[5],"from":[6,71,94],"high":[7],"false":[8,50,158],"alarm":[9],"rates":[10],"and":[11,36,49,76,113,153],"frequent":[12],"human":[13,106],"operator":[14,172],"involvement,":[15],"despite":[16],"the":[17,61,81,89,111,123,142,192,197,212],"relative":[18],"rarity":[19],"of":[20,125,199,203,211],"real-world":[21],"threats.":[22],"We":[23,121,194],"present":[24,196],"a":[25,44,117,138,154,215],"novel":[26],"architecture":[27],"for":[28,46,180],"autonomous":[29,34],"adaptive":[30],"called":[33],"detection":[35],"assessment":[37],"with":[38,58],"moving":[39],"sensors":[40,59],"(ADAMS).":[41],"ADAMS":[42,119,136],"is":[43],"framework":[45,112,129,179],"reducing":[47],"nuisance":[48],"alarms":[51,159],"by":[52],"placing":[53],"mobile":[54],"robotic":[55,66],"platforms":[56],"equipped":[57],"outside":[60],"normal":[62],"asset":[63],"perimeter.":[64],"These":[65,133],"agents":[67],"integrate":[68],"sensor":[69,165],"data":[70,84,95],"multiple":[72],"perspectives":[73],"over":[74,97],"time,":[75],"autonomously":[77],"move":[78],"obtain":[80],"best":[82],"new":[83,183],"reduce":[86],"uncertainty":[87],"in":[88,116,141,157,214],"threat":[90],"scene.":[91],"Inferences":[92],"drawn":[93],"fused":[96],"time":[98],"provide":[99],"ultimate":[100],"decisions":[101],"regarding":[102],"whether":[103],"alert":[105],"operators.":[107],"This":[108],"paper":[109],"describes":[110],"algorithms":[114],"used":[115],"prototype":[118,206],"implementation.":[120],"describe":[122],"results":[124,198],"simulations":[126,134,176,213],"comparing":[127],"this":[128,178],"alternate":[131],"paradigms.":[132],"show":[135,177],"has":[137],"4x":[139],"increase":[140],"range":[143],"at":[144],"which":[145,189],"threats":[146,185],"are":[147],"identified":[148],"versus":[149,161],"traditional":[150],"static":[151],"sensors,":[152],"5x":[155],"reduction":[156],"triggered":[160],"frameworks":[162],"where":[163],"all":[164],"detections":[166],"become":[167],"alarms,":[168],"leading":[169],"reduced":[171],"load.":[173],"Further,":[174],"these":[175],"reacting":[181],"potential":[184],"significantly":[186],"outperforms":[187],"methods":[188],"merely":[190],"patrol":[191],"site.":[193],"also":[195],"preliminary":[200],"hardware":[201],"trials":[202],"an":[204],"exemplar":[205],"system,":[207],"providing":[208],"limited":[209],"validation":[210],"real-time":[216],"demonstration.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}