{"id":"https://openalex.org/W4405784999","doi":"https://doi.org/10.1109/iros58592.2024.10802088","title":"Valuing Attrition in a Fleet of Robots Used as Path-Based Sensors for Gathering Information in a Communications Restricted Environment","display_name":"Valuing Attrition in a Fleet of Robots Used as Path-Based Sensors for Gathering Information in a Communications Restricted Environment","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405784999","doi":"https://doi.org/10.1109/iros58592.2024.10802088"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5042296873","display_name":"Loy McGuire","orcid":"https://orcid.org/0000-0002-1222-6993"},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Loy McGuire","raw_affiliation_strings":["U.S. Naval Research Laboratory,Distributed Autonomous Systems Section,Washington, DC,USA,20375"],"affiliations":[{"raw_affiliation_string":"U.S. Naval Research Laboratory,Distributed Autonomous Systems Section,Washington, DC,USA,20375","institution_ids":["https://openalex.org/I1288214837"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010568864","display_name":"Michael Otte","orcid":"https://orcid.org/0000-0001-7432-0734"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Otte","raw_affiliation_strings":["University of Maryland"],"affiliations":[{"raw_affiliation_string":"University of Maryland","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080630773","display_name":"Donald Sofge","orcid":"https://orcid.org/0000-0003-0153-3581"},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donald Sofge","raw_affiliation_strings":["U.S. Naval Research Laboratory,Distributed Autonomous Systems Section,Washington, DC,USA,20375"],"affiliations":[{"raw_affiliation_string":"U.S. Naval Research Laboratory,Distributed Autonomous Systems Section,Washington, DC,USA,20375","institution_ids":["https://openalex.org/I1288214837"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042296873"],"corresponding_institution_ids":["https://openalex.org/I1288214837"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27617764,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7633","last_page":"7640"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9922999739646912,"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/T12288","display_name":"Optimization and Search Problems","score":0.9922999739646912,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9577999711036682,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/attrition","display_name":"Attrition","score":0.7912216186523438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7402636408805847},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.64188152551651},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5261030793190002},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.458639919757843},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.4400589168071747},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33928632736206055},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3206717073917389},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.31155696511268616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1988767385482788}],"concepts":[{"id":"https://openalex.org/C2780553607","wikidata":"https://www.wikidata.org/wiki/Q684868","display_name":"Attrition","level":2,"score":0.7912216186523438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7402636408805847},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.64188152551651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5261030793190002},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.458639919757843},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.4400589168071747},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33928632736206055},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3206717073917389},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.31155696511268616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1988767385482788},{"id":"https://openalex.org/C199343813","wikidata":"https://www.wikidata.org/wiki/Q12128","display_name":"Dentistry","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1126974217","https://openalex.org/W1925007238","https://openalex.org/W1991876273","https://openalex.org/W1995875735","https://openalex.org/W2044079487","https://openalex.org/W2054657157","https://openalex.org/W2077205651","https://openalex.org/W2081084346","https://openalex.org/W2081511162","https://openalex.org/W2082875817","https://openalex.org/W2291011188","https://openalex.org/W2516604945","https://openalex.org/W3023673249","https://openalex.org/W3144666729","https://openalex.org/W4383108959","https://openalex.org/W6802162115"],"related_works":["https://openalex.org/W1969175355","https://openalex.org/W2007101045","https://openalex.org/W2056472298","https://openalex.org/W4389273703","https://openalex.org/W2586909830","https://openalex.org/W2775846538","https://openalex.org/W2116688168","https://openalex.org/W3124528783","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,67,82,216],"this":[1,73,220],"paper":[2],"we":[3,84,185],"propose":[4],"a":[5,11,19,24,39,43,248,277],"new":[6],"algorithm":[7,31,134,188,275],"for":[8,42,181,195,298],"robots":[9],"searching":[10],"hazardous,":[12],"communications-denied":[13],"area":[14,106],"to":[15,51,57,63,97,170,189,222,254,285],"gather":[16],"information":[17,65,140,153,227,252,272],"using":[18,107],"robot":[20,33],"fleet":[21,177,207,231],"that":[22,86,138,164,191,290],"has":[23,75],"limited":[25],"number":[26,79,88],"of":[27,80,89,104,112,114,205,250,270,313],"agents.":[28,81,215,315],"The":[29,197],"centralized":[30],"uses":[32],"survival":[34,113],"along":[35,126],"search":[36,54],"paths":[37,117,137],"as":[38,118,120],"sensor":[40,45,121],"event":[41],"distributed":[44],"network.":[46],"As":[47],"agents":[48,90,125,165,256,264],"are":[49,210],"lost":[50],"hazards,":[52],"the":[53,68,87,110,124,133,148,162,203,206,230,271,291,295],"behavior":[55,160,282],"adjusts":[56],"prioritize":[58],"agent":[59,281],"longevity":[60,204],"in":[61,142,151,202,226,238,265,280],"order":[62],"maximize":[64,139],"gain.":[66],"past,":[69],"related":[70],"work":[71,190],"solving":[72],"problem":[74],"assumed":[76],"an":[77,105,157,200,223,310],"infinite":[78],"contrast,":[83],"assume":[85],"is":[91,233],"finite.":[92],"We":[93,288],"use":[94],"Bayesian":[95],"inference":[96],"update":[98],"target":[99],"and":[100,179,303,306],"hazard":[101],"belief":[102,131],"maps":[103],"data":[108],"from":[109,123,258],"probability":[111,312],"prior":[115],"agents\u2019":[116],"well":[119],"readings":[122],"those":[127,130],"paths.":[128],"Using":[129],"maps,":[132],"can":[135],"construct":[136],"gain,":[141],"expectation,":[143],"while":[144],"taking":[145],"into":[146],"account":[147,194],"predicted":[149],"decrease":[150],"future":[152],"collected":[154,251],"when":[155,208,229,307],"losing":[156],"agent.":[158],"This":[159],"increases":[161],"likelihood":[163],"survive":[166],"longer,":[167],"allowing":[168],"them":[169],"collect":[171,268],"more":[172,211],"data.Using":[173],"simulations":[174],"with":[175],"various":[176],"sizes":[178],"probabilities":[180],"hazards":[182,209,308],"disabling":[183,214],"agents,":[184,244,305],"compare":[186],"our":[187,239,266],"does":[192],"not":[193,246],"attrition.":[196],"results":[198],"show":[199],"increase":[201],"effective":[212],"at":[213],"nearly":[217],"all":[218],"cases,":[219],"contributes":[221],"increased":[224,311],"rate":[225],"gain":[228],"size":[232],"small.":[234],"Small":[235],"sized":[236],"fleets,":[237,261,300],"case":[240],"10":[241],"or":[242],"less":[243],"do":[245],"meet":[247],"threshold":[249],"necessary":[253],"direct":[255],"away":[257],"hazards.":[259],"Large":[260],"over":[262],"200":[263],"scenario,":[267],"most":[269],"before":[273],"Our":[274],"causes":[276],"noticeable":[278],"change":[279],"(as":[283],"compared":[284],"existing":[286],"techniques).":[287],"find":[289],"proposed":[292],"method":[293],"provides":[294],"greatest":[296],"advantage":[297],"mid-sized":[299],"between":[301],"20":[302],"100":[304],"have":[309],"immobilizing":[314]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}