{"id":"https://openalex.org/W4200577597","doi":"https://doi.org/10.1109/iros51168.2021.9636719","title":"Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints","display_name":"Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200577597","doi":"https://doi.org/10.1109/iros51168.2021.9636719"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636719","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2205.15483","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002978188","display_name":"Aaron Ray","orcid":"https://orcid.org/0000-0002-9407-091X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Ray","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035836760","display_name":"Alyssa Pierson","orcid":"https://orcid.org/0000-0002-4885-9119"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alyssa Pierson","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003219071","display_name":"Hai Zhu","orcid":"https://orcid.org/0000-0002-9780-5053"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Hai Zhu","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4774,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73667571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1515","last_page":"1522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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/drone","display_name":"Drone","score":0.8679205179214478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.753623366355896},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.620733380317688},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6179074048995972},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5757955312728882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5365725755691528},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5353330373764038},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5175427794456482},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5044578313827515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5003969669342041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47328776121139526},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.45165809988975525},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.42241740226745605},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42199304699897766},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3914693295955658},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15802088379859924},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13447269797325134}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8679205179214478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.753623366355896},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.620733380317688},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6179074048995972},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5757955312728882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5365725755691528},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5353330373764038},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5175427794456482},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5044578313827515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5003969669342041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47328776121139526},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.45165809988975525},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.42241740226745605},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42199304699897766},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3914693295955658},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15802088379859924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13447269797325134},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros51168.2021.9636719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636719","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2205.15483","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.15483","pdf_url":"https://arxiv.org/pdf/2205.15483","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/144048","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/144048","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"pmh:oai:tudelft.nl:uuid:097988bf-790c-4b79-ad68-679f66c556b7","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:097988bf-790c-4b79-ad68-679f66c556b7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2205.15483","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.15483","pdf_url":"https://arxiv.org/pdf/2205.15483","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W35396204","https://openalex.org/W1126974217","https://openalex.org/W1978226270","https://openalex.org/W1995813020","https://openalex.org/W2005462408","https://openalex.org/W2018779169","https://openalex.org/W2102956529","https://openalex.org/W2115026549","https://openalex.org/W2123871098","https://openalex.org/W2128990851","https://openalex.org/W2200450867","https://openalex.org/W2557827245","https://openalex.org/W2567355071","https://openalex.org/W2587088476","https://openalex.org/W2736730865","https://openalex.org/W2772382021","https://openalex.org/W2810988464","https://openalex.org/W2842089854","https://openalex.org/W2901677958","https://openalex.org/W2909324603","https://openalex.org/W2914859139","https://openalex.org/W2938905778","https://openalex.org/W2972407766","https://openalex.org/W2980500631","https://openalex.org/W2984966510","https://openalex.org/W2997779830","https://openalex.org/W2999798211","https://openalex.org/W3021733985","https://openalex.org/W3048609641","https://openalex.org/W3122364914","https://openalex.org/W3186006359","https://openalex.org/W3207242828","https://openalex.org/W4213060235","https://openalex.org/W4298072411","https://openalex.org/W4300917272","https://openalex.org/W6601396558","https://openalex.org/W6785993405"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4386322305"],"abstract_inverted_index":{"We":[0,26],"address":[1],"the":[2,22,45,51,83,89],"problem":[3],"of":[4,8,17,24,37,100],"assigning":[5],"a":[6,13,18,28,55,98,103],"team":[7],"drones":[9,101],"to":[10,39,58,72,87],"autonomously":[11],"capture":[12,88],"set":[14],"desired":[15,48],"shots":[16,40],"dynamic":[19],"target":[20],"in":[21,95],"presence":[23],"obstacles.":[25],"present":[27],"two-stage":[29],"planning":[30],"pipeline":[31],"that":[32],"generates":[33],"offline":[34],"an":[35,68],"assignment":[36],"drone":[38,74],"and":[41,66,102],"locally":[42],"optimizes":[43],"online":[44,77],"viewpoint.":[46],"Given":[47],"shot":[49,65],"parameters,":[50],"high-level":[52],"planner":[53],"uses":[54,67,82],"visibility":[56],"heuristic":[57],"predict":[59],"good":[60],"times":[61],"for":[62],"capturing":[63],"each":[64],"Integer":[69],"Linear":[70],"Program":[71],"compute":[73],"assignments.":[75],"An":[76],"Model":[78],"Predictive":[79],"Control":[80],"algorithm":[81,92],"assignments":[84],"as":[85],"reference":[86],"shots.":[90],"The":[91],"is":[93],"validated":[94],"hardware":[96],"with":[97],"pair":[99],"remote":[104],"controlled":[105],"car.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
