{"id":"https://openalex.org/W4391528735","doi":"https://doi.org/10.1109/mrs60187.2023.10416778","title":"Multi-Robot Heterogeneous Adversarial Coverage","display_name":"Multi-Robot Heterogeneous Adversarial Coverage","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4391528735","doi":"https://doi.org/10.1109/mrs60187.2023.10416778"},"language":"en","primary_location":{"id":"doi:10.1109/mrs60187.2023.10416778","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/mrs60187.2023.10416778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5093860948","display_name":"Yair Korngut","orcid":null},"institutions":[{"id":"https://openalex.org/I13955877","display_name":"Bar-Ilan University","ror":"https://ror.org/03kgsv495","country_code":"IL","type":"education","lineage":["https://openalex.org/I13955877"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Yair Korngut","raw_affiliation_strings":["Bar-Ilan University,Department of Computer Science,Ramat-Gan,Israel,5290002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bar-Ilan University,Department of Computer Science,Ramat-Gan,Israel,5290002","institution_ids":["https://openalex.org/I13955877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055529558","display_name":"Noa Agmon","orcid":"https://orcid.org/0000-0003-0890-7734"},"institutions":[{"id":"https://openalex.org/I13955877","display_name":"Bar-Ilan University","ror":"https://ror.org/03kgsv495","country_code":"IL","type":"education","lineage":["https://openalex.org/I13955877"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Noa Agmon","raw_affiliation_strings":["Bar-Ilan University,Department of Computer Science,Ramat-Gan,Israel,5290002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bar-Ilan University,Department of Computer Science,Ramat-Gan,Israel,5290002","institution_ids":["https://openalex.org/I13955877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I13955877"],"apc_list":null,"apc_paid":null,"fwci":0.2332,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60835116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"100","last_page":"106"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T12288","display_name":"Optimization and Search Problems","score":0.9987999796867371,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9968000054359436,"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/robot","display_name":"Robot","score":0.7799167633056641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6998893618583679},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.6930381059646606},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.643744945526123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5851025581359863},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5804733037948608},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5732654929161072},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.5720444321632385},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48933833837509155},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4753115773200989},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4750147759914398},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4259493947029114},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4173378050327301},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1267375648021698},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12550902366638184}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7799167633056641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6998893618583679},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.6930381059646606},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.643744945526123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5851025581359863},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5804733037948608},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5732654929161072},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.5720444321632385},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48933833837509155},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4753115773200989},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4750147759914398},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4259493947029114},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4173378050327301},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1267375648021698},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12550902366638184},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mrs60187.2023.10416778","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/mrs60187.2023.10416778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2019738489","https://openalex.org/W2043108340","https://openalex.org/W2151951367","https://openalex.org/W2285657798","https://openalex.org/W2583768145","https://openalex.org/W2956901944","https://openalex.org/W2964302474","https://openalex.org/W3000637312","https://openalex.org/W3002604519","https://openalex.org/W3137443162","https://openalex.org/W3156846220","https://openalex.org/W3202615380","https://openalex.org/W4244358460","https://openalex.org/W4311443740","https://openalex.org/W4313639219","https://openalex.org/W6697537732","https://openalex.org/W6731885769"],"related_works":["https://openalex.org/W2502115930","https://openalex.org/W2482350142","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"Robotic":[0],"coverage":[1,43,92],"is":[2,54],"one":[3],"of":[4,40,52,74,98,107,151,160],"the":[5,29,33,41,65,72,83,88,91,95,103,108,112,116,149,152,157],"canonical":[6],"problems":[7],"in":[8,20,48,111,163],"robotics":[9],"research,":[10],"seeking":[11],"to":[12,31,56,126,148],"find":[13],"a":[14,38,50,119],"path":[15],"that":[16,62],"visits":[17],"each":[18],"point":[19],"an":[21,58,128,139],"area":[22,59],"while":[23,85],"optimizing":[24],"some":[25,68],"criteria,":[26],"usually":[27],"minimizing":[28],"time":[30,93],"complete":[32],"coverage.":[34],"This":[35],"paper":[36],"considers":[37],"variant":[39],"robotic":[42],"problem,":[44],"multi-robot":[45],"adversarial":[46],"coverage,":[47],"which":[49],"team":[51],"robots":[53,66,77,109],"required":[55],"cover":[57],"containing":[60],"threats":[61],"might":[63],"stop":[64],"with":[67,138],"probability.":[69],"Motivated":[70],"by":[71],"advantages":[73],"using":[75],"heterogeneous":[76],"for":[78,87],"this":[79],"mission,":[80],"we":[81,155],"formulate":[82,115],"problem":[84,117],"accounting":[86],"trade-off":[89],"between":[90],"and":[94,121,143],"expected":[96],"number":[97],"covered":[99],"cells,":[100],"considering":[101],"also":[102],"different":[104,164],"(heterogeneous)":[105],"characteristics":[106],"involved":[110],"mission.":[113],"We":[114,131],"as":[118],"Dec-POMDP":[120],"use":[122],"multi-agent":[123],"reinforcement":[124],"algorithms":[125,162],"compute":[127],"optimal":[129],"policy.":[130],"have":[132],"implemented":[133],"our":[134],"RL-based":[135],"methods":[136],"along":[137],"enhanced":[140],"heuristic":[141],"algorithm,":[142],"show":[144],"their":[145],"superiority":[146],"compared":[147],"state":[150],"art.":[153],"Finally,":[154],"discuss":[156],"possible":[158],"limitations":[159],"learning-based":[161],"settings.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-08-13T07:04:57.449891","created_date":"2025-10-10T00:00:00"}