{"id":"https://openalex.org/W4396542390","doi":"https://doi.org/10.1109/lra.2024.3396097","title":"HMA-SAR: Multi-Agent Search and Rescue for Unknown Located Dynamic Targets in Completely Unknown Environments","display_name":"HMA-SAR: Multi-Agent Search and Rescue for Unknown Located Dynamic Targets in Completely Unknown Environments","publication_year":2024,"publication_date":"2024-05-01","ids":{"openalex":"https://openalex.org/W4396542390","doi":"https://doi.org/10.1109/lra.2024.3396097"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3396097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396097","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/A5104594496","display_name":"Xiao Cao","orcid":"https://orcid.org/0009-0004-6950-8299"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xiao Cao","raw_affiliation_strings":["Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026968861","display_name":"Mingyang Li","orcid":"https://orcid.org/0009-0006-4536-4811"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Mingyang Li","raw_affiliation_strings":["Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018470303","display_name":"Yuting Tao","orcid":"https://orcid.org/0009-0005-0703-1584"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuting Tao","raw_affiliation_strings":["Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017071421","display_name":"Peng Lu","orcid":"https://orcid.org/0000-0001-5611-4902"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Lu","raw_affiliation_strings":["Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5104594496"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":8.7639,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98141649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"9","issue":"6","first_page":"5567","last_page":"5574"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9800000190734863,"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":0.9800000190734863,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9722999930381775,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9703999757766724,"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/search-and-rescue","display_name":"Search and rescue","score":0.5946059823036194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414156913757324},{"id":"https://openalex.org/keywords/rescue-therapy","display_name":"Rescue therapy","score":0.4664648771286011},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.44273319840431213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38119596242904663},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3621704578399658},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3390201926231384},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.22267720103263855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0824107825756073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07341808080673218},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06391939520835876}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5946059823036194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414156913757324},{"id":"https://openalex.org/C2776485726","wikidata":"https://www.wikidata.org/wiki/Q17141389","display_name":"Rescue therapy","level":2,"score":0.4664648771286011},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.44273319840431213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38119596242904663},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3621704578399658},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3390201926231384},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22267720103263855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0824107825756073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07341808080673218},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06391939520835876},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3396097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396097","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1933691875","https://openalex.org/W1966213627","https://openalex.org/W2087421501","https://openalex.org/W2140229973","https://openalex.org/W2159017378","https://openalex.org/W2169138078","https://openalex.org/W2204616850","https://openalex.org/W2784154204","https://openalex.org/W2891752675","https://openalex.org/W2908729504","https://openalex.org/W2910054127","https://openalex.org/W2963523627","https://openalex.org/W3053918933","https://openalex.org/W3091778231","https://openalex.org/W3091845268","https://openalex.org/W3166228843","https://openalex.org/W3202938653","https://openalex.org/W3211667558","https://openalex.org/W4210356871","https://openalex.org/W4285792173","https://openalex.org/W4360831346","https://openalex.org/W4389473504","https://openalex.org/W4389667229","https://openalex.org/W6627932998","https://openalex.org/W6638704531","https://openalex.org/W6738796088","https://openalex.org/W6783747005","https://openalex.org/W6795140394","https://openalex.org/W6840380725"],"related_works":["https://openalex.org/W4206733587","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W3101748978","https://openalex.org/W2543684242","https://openalex.org/W2660327748","https://openalex.org/W2361811248","https://openalex.org/W2117893626","https://openalex.org/W2535874842","https://openalex.org/W4391252873"],"abstract_inverted_index":{"Multi-Agent":[0,41,94],"Search":[1,95],"and":[2,10,51,61,77,83,96,107,119,138,153],"Rescue":[3,97],"(MASAR)":[4],"tasks,":[5],"challenged":[6],"by":[7],"unknown":[8,15],"environments":[9],"the":[11,103,120],"unpredictable":[12],"movements":[13],"of":[14,122,128],"dynamic":[16,72],"targets,":[17],"suffer":[18],"from":[19],"inefficiencies":[20],"in":[21,71,111,136,144,150],"traditional":[22,104],"map":[23,88],"coverage":[24],"techniques":[25],"which":[26],"require":[27],"repeated":[28],"sweeps.":[29],"Addressing":[30],"this,":[31],"our":[32,90,129],"study":[33],"introduces":[34],"a":[35,56,62],"novel":[36],"MASAR":[37],"framework":[38],"based":[39],"on":[40],"Reinforcement":[42],"Learning":[43],"(MARL),":[44],"featuring":[45],"innovative":[46],"elements":[47],"like":[48,80],"state,":[49],"reward,":[50],"network":[52],"structure":[53],"design,":[54],"alongside":[55],"Heterogeneous":[57],"Curriculum":[58],"Training":[59],"algorithm":[60],"hybrid":[63],"decision":[64],"mechanism.":[65],"These":[66],"components":[67],"collectively":[68],"enhance":[69],"performance":[70],"environments,":[73],"improve":[74],"model":[75],"generalization,":[76],"mitigate":[78],"issues":[79],"sparse":[81],"rewards":[82],"policy":[84],"bias.":[85],"In":[86],"grid":[87,145],"simulations,":[89],"approach,":[91],"HMA-SAR":[92],"(Heterogeneous":[93],"Framework),":[98],"demonstrated":[99],"consistent":[100],"superiority":[101],"over":[102],"frontier-based":[105],"method":[106],"other":[108],"MARL":[109],"algorithms,":[110],"metrics":[112],"such":[113],"as":[114],"success":[115,151],"rate,":[116],"steps":[117],"count,":[118],"number":[121],"targets":[123],"fetched.":[124],"The":[125],"practical":[126],"applicability":[127],"approach":[130],"was":[131],"further":[132],"validated":[133],"through":[134],"experiments":[135],"Gazebo":[137],"real-world":[139],"scenarios.":[140],"Additionally,":[141],"scalability":[142],"tests":[143],"maps":[146],"revealed":[147],"substantial":[148],"improvements":[149],"rates":[152],"task":[154],"completion":[155],"times":[156],"with":[157],"increased":[158],"agent":[159],"deployment.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}