{"id":"https://openalex.org/W2963918661","doi":"https://doi.org/10.1109/lra.2018.2881296","title":"Resilient Active Target Tracking With Multiple Robots","display_name":"Resilient Active Target Tracking With Multiple Robots","publication_year":2018,"publication_date":"2018-11-14","ids":{"openalex":"https://openalex.org/W2963918661","doi":"https://doi.org/10.1109/lra.2018.2881296","mag":"2963918661"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2881296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2881296","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/A5041045546","display_name":"Lifeng Zhou","orcid":"https://orcid.org/0000-0001-7927-8504"},"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":true,"raw_author_name":"Lifeng Zhou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052733656","display_name":"Vasileios Tzoumas","orcid":"https://orcid.org/0000-0001-9951-5255"},"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":"Vasileios Tzoumas","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"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":"George J. Pappas","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103249394","display_name":"Pratap Tokekar","orcid":"https://orcid.org/0000-0002-3728-3636"},"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":"Pratap Tokekar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041045546"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":null,"apc_paid":null,"fwci":7.0495,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.97293686,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"4","issue":"1","first_page":"129","last_page":"136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958999752998352,"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":0.9958999752998352,"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":0.9879000186920166,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9871000051498413,"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/computer-science","display_name":"Computer science","score":0.6966651678085327},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6817559003829956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.651671826839447},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5473617911338806},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49641138315200806},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4850108325481415},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42631274461746216},{"id":"https://openalex.org/keywords/approximation-algorithm","display_name":"Approximation algorithm","score":0.41738882660865784},{"id":"https://openalex.org/keywords/matroid","display_name":"Matroid","score":0.4107837677001953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3315144181251526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17690905928611755}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6966651678085327},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6817559003829956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.651671826839447},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5473617911338806},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49641138315200806},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4850108325481415},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42631274461746216},{"id":"https://openalex.org/C148764684","wikidata":"https://www.wikidata.org/wiki/Q621751","display_name":"Approximation algorithm","level":2,"score":0.41738882660865784},{"id":"https://openalex.org/C106286213","wikidata":"https://www.wikidata.org/wiki/Q898572","display_name":"Matroid","level":2,"score":0.4107837677001953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3315144181251526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17690905928611755},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2881296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2881296","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":[],"awards":[{"id":"https://openalex.org/G578961421","display_name":null,"funder_award_id":"1637915","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1126974217","https://openalex.org/W1510950165","https://openalex.org/W1531355326","https://openalex.org/W1668131204","https://openalex.org/W1680189815","https://openalex.org/W1974757757","https://openalex.org/W1989923929","https://openalex.org/W2011193572","https://openalex.org/W2012807278","https://openalex.org/W2016002891","https://openalex.org/W2039245308","https://openalex.org/W2092401564","https://openalex.org/W2104969271","https://openalex.org/W2106502371","https://openalex.org/W2116809160","https://openalex.org/W2148182166","https://openalex.org/W2149746310","https://openalex.org/W2183421640","https://openalex.org/W2336416123","https://openalex.org/W2567355071","https://openalex.org/W2622976012","https://openalex.org/W2757107770","https://openalex.org/W2795832897","https://openalex.org/W2964302474","https://openalex.org/W2986543921","https://openalex.org/W3175672857","https://openalex.org/W4236158019","https://openalex.org/W6630815438","https://openalex.org/W6686094655","https://openalex.org/W6749879877","https://openalex.org/W6750608665"],"related_works":["https://openalex.org/W2058299944","https://openalex.org/W4323360720","https://openalex.org/W1550144461","https://openalex.org/W4233892543","https://openalex.org/W2783959783","https://openalex.org/W2602164040","https://openalex.org/W2037206237","https://openalex.org/W4310658774","https://openalex.org/W3000635646","https://openalex.org/W2512208967"],"abstract_inverted_index":{"The":[0],"problem":[1],"of":[2,9,14,137,194,209,230],"target":[3,71,93,157],"tracking":[4,61,72,94,167],"with":[5,105,147],"multiple":[6],"robots":[7,16,31,37],"consists":[8],"actively":[10],"planning":[11,57],"the":[12,15,19,30,78,96,114,121,130,148,166,182,207],"motion":[13,107],"to":[17,28,33,65,77,178,181,201],"track":[18],"targets.":[20,232],"A":[21],"major":[22],"challenge":[23],"for":[24,59,91,134,155,196],"practical":[25],"deployments":[26],"is":[27,73,132,141,176],"make":[29],"resilient":[32,64,70,92],"failures.":[34,67,138],"In":[35,52,68,109],"particular,":[36],"may":[38,47],"be":[39,179],"attacked":[40],"in":[41,102],"adversarial":[42],"scenarios,":[43],"or":[44,49,100,104],"their":[45],"sensors":[46],"fail":[48],"get":[50],"occluded.":[51],"this":[53,110],"letter,":[54,111],"we":[55,112,205,221],"introduce":[56],"algorithms":[58,88,154],"multi-target":[60],"that":[62,175,225],"are":[63,82,89,98],"such":[66,116],"general,":[69],"computationally":[74],"hard.":[75],"Contrary":[76],"case":[79],"where":[80],"there":[81],"no":[83,85],"failures,":[84],"scalable":[86],"approximation":[87,163,188],"known":[90,228],"when":[95],"targets":[97],"indistinguishable,":[99],"unknown":[101,106],"number,":[103],"model.":[108],"provide":[113],"first":[115],"algorithm,":[117],"which":[118],"also":[119],"has":[120],"following":[122],"properties:":[123],"First,":[124],"it":[125,140,160],"achieves":[126],"maximal":[127],"resiliency,":[128],"since":[129,169],"algorithm":[131,145,171,211],"valid":[133],"any":[135],"number":[136,229],"Second,":[139],"scalable,":[142],"as":[143,152],"our":[144,170,186,210],"terminates":[146],"same":[149],"running":[150],"time":[151],"state-of-the-art":[153],"(non-resilient)":[156],"tracking.":[158],"Third,":[159],"provides":[161],"provable":[162],"bounds":[164],"on":[165,223],"performance,":[168],"guarantees":[172],"a":[173,191,218,227],"solution":[174],"guaranteed":[177],"close":[180],"optimal.":[183],"We":[184],"quantify":[185],"algorithm's":[187],"performance":[189],"using":[190],"novel":[192],"notion":[193],"curvature":[195],"monotone":[197],"set":[198],"functions":[199],"subject":[200],"matroid":[202],"constraints.":[203],"Finally,":[204],"demonstrate":[206],"efficacy":[208],"through":[212],"MATLAB":[213],"and":[214,217],"Gazebo":[215],"simulations":[216],"sensitivity":[219],"analysis;":[220],"focus":[222],"scenarios":[224],"involve":[226],"distinguishable":[231]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":4}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}