{"id":"https://openalex.org/W4391549653","doi":"https://doi.org/10.1109/mrs60187.2023.10416785","title":"Multi-Robot Adaptive Sampling based on Mixture of Experts Approach to Modeling Non-Stationary Spatial Fields","display_name":"Multi-Robot Adaptive Sampling based on Mixture of Experts Approach to Modeling Non-Stationary Spatial Fields","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4391549653","doi":"https://doi.org/10.1109/mrs60187.2023.10416785"},"language":"en","primary_location":{"id":"doi:10.1109/mrs60187.2023.10416785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs60187.2023.10416785","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/A5045080583","display_name":"Kizito Masaba","orcid":null},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kizito Masaba","raw_affiliation_strings":["Dartmouth College,Department of Computer Science,Hanover,NH,USA","Department of Computer Science, Dartmouth College, Hanover, NH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College,Department of Computer Science,Hanover,NH,USA","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"Department of Computer Science, Dartmouth College, Hanover, NH, USA","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077241133","display_name":"Alberto Quattrini Li","orcid":"https://orcid.org/0000-0002-4094-9793"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Quattrini Li","raw_affiliation_strings":["Dartmouth College,Department of Computer Science,Hanover,NH,USA","Department of Computer Science, Dartmouth College, Hanover, NH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College,Department of Computer Science,Hanover,NH,USA","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"Department of Computer Science, Dartmouth College, Hanover, NH, USA","institution_ids":["https://openalex.org/I107672454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107672454"],"apc_list":null,"apc_paid":null,"fwci":1.6436,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87819139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"191","last_page":"198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T12761","display_name":"Data Stream Mining Techniques","score":0.9944000244140625,"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"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9843999743461609,"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/adaptive-sampling","display_name":"Adaptive sampling","score":0.7181336283683777},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.7036522626876831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6618037819862366},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5814551115036011},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5034531950950623},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.47205525636672974},{"id":"https://openalex.org/keywords/major-stationary-source","display_name":"Major stationary source","score":0.4462854266166687},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.43823736906051636},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4155891537666321},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3655577600002289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33390313386917114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16442027688026428},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12657764554023743},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.11172980070114136},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08448484539985657}],"concepts":[{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.7181336283683777},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.7036522626876831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6618037819862366},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5814551115036011},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5034531950950623},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.47205525636672974},{"id":"https://openalex.org/C168703024","wikidata":"https://www.wikidata.org/wiki/Q6738367","display_name":"Major stationary source","level":3,"score":0.4462854266166687},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.43823736906051636},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4155891537666321},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3655577600002289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33390313386917114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16442027688026428},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12657764554023743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.11172980070114136},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08448484539985657},{"id":"https://openalex.org/C559116025","wikidata":"https://www.wikidata.org/wiki/Q131123","display_name":"Air pollution","level":2,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mrs60187.2023.10416785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs60187.2023.10416785","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":61,"referenced_works":["https://openalex.org/W958993015","https://openalex.org/W1502922572","https://openalex.org/W1590932131","https://openalex.org/W1966413371","https://openalex.org/W1976953317","https://openalex.org/W1989373517","https://openalex.org/W2019738489","https://openalex.org/W2021774297","https://openalex.org/W2039240409","https://openalex.org/W2040850257","https://openalex.org/W2068238590","https://openalex.org/W2072931689","https://openalex.org/W2076406387","https://openalex.org/W2083327122","https://openalex.org/W2089087727","https://openalex.org/W2098949458","https://openalex.org/W2099768828","https://openalex.org/W2110949589","https://openalex.org/W2115305054","https://openalex.org/W2120503472","https://openalex.org/W2125069195","https://openalex.org/W2130031702","https://openalex.org/W2130684472","https://openalex.org/W2132560759","https://openalex.org/W2143088799","https://openalex.org/W2157851841","https://openalex.org/W2162424869","https://openalex.org/W2167340365","https://openalex.org/W2502094132","https://openalex.org/W2530783820","https://openalex.org/W2539402368","https://openalex.org/W2543131193","https://openalex.org/W2626914210","https://openalex.org/W2891435172","https://openalex.org/W2964345570","https://openalex.org/W2967455365","https://openalex.org/W2995502148","https://openalex.org/W3000508506","https://openalex.org/W3003506411","https://openalex.org/W3028353485","https://openalex.org/W3036859942","https://openalex.org/W3044932790","https://openalex.org/W3045583938","https://openalex.org/W3085176148","https://openalex.org/W3132437092","https://openalex.org/W3154088928","https://openalex.org/W3162509885","https://openalex.org/W3166801429","https://openalex.org/W3205266566","https://openalex.org/W4226334244","https://openalex.org/W4235916096","https://openalex.org/W4293579573","https://openalex.org/W6604527594","https://openalex.org/W6605391468","https://openalex.org/W6674660115","https://openalex.org/W6674989108","https://openalex.org/W6678547648","https://openalex.org/W6679512965","https://openalex.org/W6679608865","https://openalex.org/W6756486208","https://openalex.org/W6763087925"],"related_works":["https://openalex.org/W2038693912","https://openalex.org/W1991602789","https://openalex.org/W1582396021","https://openalex.org/W1988359706","https://openalex.org/W312558119","https://openalex.org/W4210985407","https://openalex.org/W2335441444","https://openalex.org/W138014004","https://openalex.org/W2075598034","https://openalex.org/W2984441180"],"abstract_inverted_index":{"This":[0,98,121],"paper":[1],"presents":[2],"an":[3],"adaptive":[4,51,170],"sampling":[5,52,198],"strategy":[6],"for":[7,38,101],"a":[8,28,62,82,86,106,115,139,163],"team":[9],"of":[10,56,73,88,94,108,134,165,179],"robots":[11],"to":[12,65,119,142,152,184,187,201],"model":[13,64,81,156],"non-stationary":[14,33,83,103],"spatial":[15],"fields":[16,19,35,104],"\u2013":[17,23,167],"i.e.,":[18],"with":[20,27],"uneven":[21],"variations":[22],"in":[24,48,70,90,191],"large":[25,135],"environments,":[26],"desired":[29],"predictive":[30],"accuracy.":[31],"Modeling":[32],"heterogeneous":[34],"is":[36,113,182],"essential":[37],"many":[39],"applications,":[40],"like":[41],"monitoring":[42],"air":[43],"quality":[44],"or":[45],"contamination":[46],"level":[47],"lakes.":[49],"Mainstream":[50],"strategies":[53],"assume":[54],"stationarity":[55],"the":[57,124,157,168],"environmental":[58],"phenomenon":[59],"and":[60,148,197],"use":[61],"single":[63],"explain":[66],"such":[67],"fields,":[68],"resulting":[69],"inaccurate":[71],"characterization":[72],"unique":[74],"localized":[75],"variations.":[76],"In":[77],"this":[78],"paper,":[79],"we":[80],"field":[84],"as":[85,162],"collection":[87],"(infinite,":[89],"theory)":[91],"non-overlapping":[92],"layers":[93],"stationary":[95,146],"homogeneous":[96,117,128],"subfields.":[97],"approach":[99,122,141],"allows":[100,131],"modeling":[102,133],"using":[105],"mixture":[107],"experts,":[109,180],"where":[110,186],"each":[111,145],"expert":[112],"assigned":[114],"particular":[116],"subregion":[118],"map.":[120],"decomposes":[123],"environment":[125],"into":[126],"smaller":[127],"regions,":[129],"which":[130,181],"real-time":[132],"environments.":[136],"We":[137,155],"design":[138],"data-driven":[140],"adaptively":[143],"identify":[144],"layer":[147],"define":[149],"its":[150,176],"relationship":[151,158],"other":[153,202],"layers.":[154],"between":[159],"various":[160],"subregions":[161],"network":[164],"experts":[166],"rapidly-sampling":[169],"graph.":[171],"Each":[172],"robot":[173],"incrementally":[174],"builds":[175],"own":[177],"sub-network":[178],"used":[183],"determine":[185],"sample.":[188],"Several":[189],"experiments":[190],"realistic":[192],"simulation":[193],"demonstrate":[194],"competitive":[195],"accuracy":[196],"efficiency":[199],"compared":[200],"state-of-the-art":[203],"methods.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}