{"id":"https://openalex.org/W2640686674","doi":"https://doi.org/10.1109/lra.2017.2717080","title":"Rapid Deployment of Mobile Robots Under Temporal, Performance, Perception, and Resource Constraints","display_name":"Rapid Deployment of Mobile Robots Under Temporal, Performance, Perception, and Resource Constraints","publication_year":2017,"publication_date":"2017-06-19","ids":{"openalex":"https://openalex.org/W2640686674","doi":"https://doi.org/10.1109/lra.2017.2717080","mag":"2640686674"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2717080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2717080","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5073225022","display_name":"Jose Luis Susa Rincon","orcid":null},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jose Luis Susa Rincon","raw_affiliation_strings":["School of Engineering, University of California, Merced, CA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086188394","display_name":"Pratap Tokekar","orcid":"https://orcid.org/0000-0002-3715-0382"},"institutions":[{"id":"https://openalex.org/I4210136443","display_name":"OrthoVirginia","ror":"https://ror.org/03s410108","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210136443"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratap Tokekar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Viginia Tech, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Viginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I4210136443"]}]},{"author_position":"middle","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 Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081177797","display_name":"Stefano Carpin","orcid":"https://orcid.org/0000-0003-3837-7463"},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Carpin","raw_affiliation_strings":["School of Engineering, University of California, Merced, CA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073225022"],"corresponding_institution_ids":["https://openalex.org/I156087764"],"apc_list":null,"apc_paid":null,"fwci":0.6216,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71378826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"2","issue":"4","first_page":"2016","last_page":"2023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.992900013923645,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.8601817488670349},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5762872099876404},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.5597143173217773},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5366029143333435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.536173939704895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41881299018859863},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36756399273872375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2549213767051697},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1550387442111969},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0962313711643219},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.0826597809791565},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.05507972836494446}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.8601817488670349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5762872099876404},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.5597143173217773},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5366029143333435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.536173939704895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41881299018859863},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36756399273872375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2549213767051697},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1550387442111969},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0962313711643219},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0826597809791565},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.05507972836494446}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2717080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2717080","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4383367092","display_name":null,"funder_award_id":"N00014-15-1-2115","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5802736733","display_name":null,"funder_award_id":"W911NF-08-2-0004 (MAST-CNC-15-4-4)","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G7792548765","display_name":null,"funder_award_id":"1566247","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1208385249","https://openalex.org/W1680189815","https://openalex.org/W1963938442","https://openalex.org/W1984143531","https://openalex.org/W2003281104","https://openalex.org/W2046587037","https://openalex.org/W2048590216","https://openalex.org/W2082101184","https://openalex.org/W2099506495","https://openalex.org/W2105972067","https://openalex.org/W2113939799","https://openalex.org/W2148026779","https://openalex.org/W2154929090","https://openalex.org/W2157062061","https://openalex.org/W2165142526","https://openalex.org/W2200450867","https://openalex.org/W2336416123","https://openalex.org/W2498394120","https://openalex.org/W2964096892","https://openalex.org/W4247426014"],"related_works":["https://openalex.org/W96612179","https://openalex.org/W2770234245","https://openalex.org/W2987774938","https://openalex.org/W2566006169","https://openalex.org/W4256492088","https://openalex.org/W632915154","https://openalex.org/W4229499248","https://openalex.org/W4378874356","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,77],"consider":[1],"the":[2,28,31,40,45,48,82,91,107,119,122,127,133,139,144,186,194,199,202],"problem":[3,80,190],"where":[4],"a":[5,16,23,36,130,148,158,163],"team":[6,150],"of":[7,18,42,84,102,121,132,146,201],"mobile":[8],"robots":[9,53,74,140],"is":[10,22,33,75,136],"tasked":[11],"with":[12,143,198],"collecting":[13],"information":[14,117],"about":[15],"set":[17],"stationary":[19],"targets.":[20],"There":[21],"temporal":[24],"deadline":[25],"to":[26,34,60,98,114,138,167,183],"complete":[27],"task,":[29],"and":[30,57,89,106,110,162,191],"objective":[32,145,160],"determine":[35],"control":[37,124],"policy":[38],"maximizing":[39,147],"probability":[41],"successfully":[43],"completing":[44],"task":[46],"within":[47],"assigned":[49,137],"deadline.":[50],"In":[51,126],"addition,":[52],"use":[54],"imprecise":[55],"sensors,":[56],"are":[58,65,104],"subject":[59],"noisy":[61],"dynamics.":[62],"Furthermore,":[63],"there":[64],"more":[66],"targets":[67,103],"than":[68],"robots,":[69],"so":[70],"load":[71],"sharing":[72],"between":[73],"necessary.":[76],"model":[78,109],"this":[79,154,169,189],"using":[81],"theory":[83],"constrained":[85],"Markov":[86],"decision":[87],"processes":[88],"split":[90],"solution":[92],"into":[93],"two":[94],"steps.":[95],"First,":[96],"policies":[97,135],"observe":[99],"small":[100],"subsets":[101],"computed,":[105],"proposed":[108],"algorithm":[111,166],"allow":[112],"one":[113],"extract":[115],"accurate":[116],"characterizing":[118,188],"performance":[120,151],"computed":[123,134],"policies.":[125],"second":[128],"stage,":[129],"subset":[131],"for":[141],"execution":[142],"collective":[149],"function.":[152],"To":[153],"end,":[155],"we":[156],"introduce":[157],"submodular":[159],"function":[161],"greedy":[164],"approximation":[165],"solve":[168],"nonlinear":[170],"assignment":[171],"problem.":[172,203],"Simulations":[173],"demonstrate":[174],"how":[175,193],"these":[176],"models":[177],"can":[178],"be":[179],"used":[180],"in":[181],"practice":[182],"appropriately":[184],"tune":[185],"parameters":[187],"show":[192],"approach":[195],"favorably":[196],"scales":[197],"complexity":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
