{"id":"https://openalex.org/W3083023308","doi":"https://doi.org/10.1109/lra.2020.3021382","title":"Path Planning Under Malicious Injections and Removals of Perceived Obstacles: A Probabilistic Programming Approach","display_name":"Path Planning Under Malicious Injections and Removals of Perceived Obstacles: A Probabilistic Programming Approach","publication_year":2020,"publication_date":"2020-09-02","ids":{"openalex":"https://openalex.org/W3083023308","doi":"https://doi.org/10.1109/lra.2020.3021382","mag":"3083023308"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3021382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3021382","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/A5008552962","display_name":"Jacopo Banfi","orcid":"https://orcid.org/0000-0001-9660-4869"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jacopo Banfi","raw_affiliation_strings":["Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100643391","display_name":"Yizhou Zhang","orcid":"https://orcid.org/0000-0002-8206-4694"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]},{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Yizhou Zhang","raw_affiliation_strings":["Harvard University, Cambridge, USA","University of Waterloo, Waterloo, Canada"],"affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, USA","institution_ids":["https://openalex.org/I2801851002"]},{"raw_affiliation_string":"University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024329178","display_name":"G. Edward Suh","orcid":"https://orcid.org/0000-0001-6409-9888"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Edward Suh","raw_affiliation_strings":["Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101697549","display_name":"Andrew C. Myers","orcid":"https://orcid.org/0000-0001-5819-7588"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew C. Myers","raw_affiliation_strings":["Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Cornell University, Ithaca, USA"],"affiliations":[{"raw_affiliation_string":"Cornell University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008552962"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.1954,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.49615178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"5","issue":"4","first_page":"6884","last_page":"6891"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9775000214576721,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.7270293831825256},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6140373945236206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6021789908409119},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.4189165234565735},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4151086211204529},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4066429138183594},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.19036570191383362}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7270293831825256},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6140373945236206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6021789908409119},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.4189165234565735},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4151086211204529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4066429138183594},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.19036570191383362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3021382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3021382","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":0.6000000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G6424421066","display_name":null,"funder_award_id":"NNX16AB09G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1531532259","https://openalex.org/W1977070092","https://openalex.org/W2005443352","https://openalex.org/W2011039300","https://openalex.org/W2103052138","https://openalex.org/W2128353551","https://openalex.org/W2141955346","https://openalex.org/W2167770337","https://openalex.org/W2168992242","https://openalex.org/W2336416123","https://openalex.org/W2467020497","https://openalex.org/W2486715098","https://openalex.org/W2516828253","https://openalex.org/W2564950337","https://openalex.org/W2611243847","https://openalex.org/W2793777304","https://openalex.org/W2896746715","https://openalex.org/W2897613819","https://openalex.org/W2963613342","https://openalex.org/W2964321317","https://openalex.org/W4230704549","https://openalex.org/W4239749705","https://openalex.org/W6605295560","https://openalex.org/W6755447188"],"related_works":["https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1519058190","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"An":[0],"autonomous":[1],"mobile":[2],"robot":[3,68],"may":[4],"encounter":[5],"adversarial":[6,59],"environments":[7],"in":[8,58,116],"which":[9],"an":[10,90,97,176],"attacker":[11],"tries":[12],"to":[13,141,174,184,189,200,210],"influence":[14],"its":[15],"decisions.":[16],"Through":[17],"physical":[18],"or":[19],"software-level":[20],"attacks,":[21],"some":[22],"of":[23,46,72,100,112,114,123,208],"the":[24,44,62,67,77,94,109,117,121,124,135,147,204],"robot's":[25],"sensors":[26],"might":[27],"be":[28],"compromised-a":[29],"special":[30],"concern":[31],"for":[32,169],"self-driving":[33],"vehicles.":[34],"Motivated":[35],"by":[36,66],"this":[37,39],"scenario,":[38],"letter":[40],"introduces":[41],"and":[42,107,126,166],"studies":[43],"problem":[45,125],"planning":[47],"kinematically":[48],"feasible":[49],"(and":[50],"possibly":[51],"efficient)":[52],"paths":[53,187],"with":[54],"bounded":[55],"collision":[56,143,212],"probability":[57,144],"settings":[60],"where":[61],"obstacles":[63,115],"perceived":[64],"online":[65],"display":[69],"two":[70],"layers":[71],"uncertainty.":[73,171],"The":[74],"first":[75],"is":[76,96,182],"\u201cusual\u201d":[78],"Gaussian":[79],"uncertainty":[80,101],"one":[81],"would":[82],"obtain":[83],"from":[84],"a":[85,128,190],"standard":[86],"object":[87],"tracker":[88],"(e.g.,":[89],"Extended":[91],"Kalman":[92],"Filter);":[93],"second":[95],"additional":[98],"layer":[99],"that":[102,133],"captures":[103],"possible":[104],"sensor":[105],"attacks":[106],"describes":[108],"actual":[110],"existence":[111],"groups":[113],"environment.":[118],"We":[119,150],"study":[120],"complexity":[122],"propose":[127],"general":[129],"sampling-based":[130],"solution":[131],"framework":[132],"uses":[134],"Sequential":[136],"Probability":[137],"Ratio":[138],"Test":[139],"(SPRT)":[140],"check":[142],"constraints":[145],"along":[146],"computed":[148],"trajectory.":[149],"also":[151],"show":[152],"how":[153],"probabilistic":[154],"programming":[155,160,178],"languages":[156],"(PPLs)":[157],"can":[158],"simplify":[159],"common":[161],"algorithms":[162],"(such":[163],"as":[164],"RRT":[165],"Hybrid":[167],"A*)":[168],"mixed":[170],"In":[172],"addition":[173],"providing":[175],"easy-to-use":[177],"framework,":[179],"our":[180],"approach":[181],"shown":[183],"plan":[185],"safer":[186],"compared":[188],"Naive":[191],"Monte":[192],"Carlo":[193],"baseline":[194],"when":[195],"both":[196],"approaches":[197],"are":[198],"allowed":[199],"use":[201],"at":[202],"most":[203],"same":[205],"given":[206],"number":[207],"samples":[209],"perform":[211],"checks.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}