{"id":"https://openalex.org/W4406321724","doi":"https://doi.org/10.1109/taes.2025.3528397","title":"Continuously Optimizing Radar Placement With Model-Predictive Path Integrals","display_name":"Continuously Optimizing Radar Placement With Model-Predictive Path Integrals","publication_year":2025,"publication_date":"2025-01-13","ids":{"openalex":"https://openalex.org/W4406321724","doi":"https://doi.org/10.1109/taes.2025.3528397"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2025.3528397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3528397","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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":null,"display_name":"Michael Potter","orcid":"https://orcid.org/0000-0002-0378-1178"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Potter","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0378-1178","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuo Tang","orcid":"https://orcid.org/0009-0000-4531-2858"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuo Tang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0009-0000-4531-2858","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055766782","display_name":"Paul Ghanem","orcid":"https://orcid.org/0000-0002-3564-4741"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Ghanem","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054370349","display_name":"Milica Stojanovic","orcid":"https://orcid.org/0000-0002-9127-9638"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Milica Stojanovic","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9127-9638","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070127242","display_name":"Pau Closas","orcid":"https://orcid.org/0000-0002-5960-6600"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pau Closas","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5960-6600","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022367392","display_name":"Murat Akcakaya","orcid":null},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Murat Akcakaya","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Pittsburgh, Pittsburgh, PA, USA","University of Pittsburgh, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5094-1931","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]},{"raw_affiliation_string":"University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108504059","display_name":"Ben Wright","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ben Wright","raw_affiliation_strings":["Kostas Research Institute, Burlington, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kostas Research Institute, Burlington, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065766467","display_name":"Marius Necsoiu","orcid":"https://orcid.org/0000-0002-7974-6758"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marius Necsoiu","raw_affiliation_strings":["DEVCOM Army Research Laboratory, San Antonio, TX, USA","DEVCOM ARL, San Antonio, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-7974-6758","affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory, San Antonio, TX, USA","institution_ids":["https://openalex.org/I1304082316"]},{"raw_affiliation_string":"DEVCOM ARL, San Antonio, TX, USA","institution_ids":["https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083261801","display_name":"Deniz Erdo\u011fmu\u015f","orcid":"https://orcid.org/0000-0002-1114-3539"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deniz Erdo\u011fmu\u015f","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1114-3539","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064513857","display_name":"Michael Everett","orcid":"https://orcid.org/0000-0001-9377-6745"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Everett","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9377-6745","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009495271","display_name":"Tales Imbiriba","orcid":"https://orcid.org/0000-0002-2626-2039"},"institutions":[{"id":"https://openalex.org/I33434090","display_name":"University of Massachusetts Boston","ror":"https://ror.org/04ydmy275","country_code":"US","type":"education","lineage":["https://openalex.org/I33434090"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tales Imbiriba","raw_affiliation_strings":["University of Massachusetts Boston, Boston, MA, USA","University of Massachusetts Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2626-2039","affiliations":[{"raw_affiliation_string":"University of Massachusetts Boston, Boston, MA, USA","institution_ids":["https://openalex.org/I33434090"]},{"raw_affiliation_string":"University of Massachusetts Boston, MA, USA","institution_ids":["https://openalex.org/I33434090"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00463113,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"61","issue":"3","first_page":"6236","last_page":"6251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9848999977111816,"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":0.9848999977111816,"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":0.9587000012397766,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9505000114440918,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.650040864944458},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.5473374128341675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5255043506622314},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4779341518878937},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4620688557624817},{"id":"https://openalex.org/keywords/radar-cross-section","display_name":"Radar cross-section","score":0.42442619800567627},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3625507950782776},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35527777671813965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18724718689918518},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1691572070121765}],"concepts":[{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.650040864944458},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.5473374128341675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5255043506622314},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4779341518878937},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4620688557624817},{"id":"https://openalex.org/C101457746","wikidata":"https://www.wikidata.org/wiki/Q560430","display_name":"Radar cross-section","level":3,"score":0.42442619800567627},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3625507950782776},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35527777671813965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18724718689918518},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1691572070121765},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2025.3528397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3528397","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G981292923","display_name":null,"funder_award_id":"W911NF-23-20014","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1881264579","https://openalex.org/W1975013860","https://openalex.org/W1987900603","https://openalex.org/W1993371327","https://openalex.org/W2016211524","https://openalex.org/W2034062729","https://openalex.org/W2039728842","https://openalex.org/W2051047987","https://openalex.org/W2104130465","https://openalex.org/W2134409573","https://openalex.org/W2135401627","https://openalex.org/W2142425726","https://openalex.org/W2147981762","https://openalex.org/W2148387711","https://openalex.org/W2152079373","https://openalex.org/W2179119344","https://openalex.org/W2279534025","https://openalex.org/W2410617946","https://openalex.org/W2475771804","https://openalex.org/W2588562526","https://openalex.org/W2592937384","https://openalex.org/W2842089854","https://openalex.org/W2897395948","https://openalex.org/W2963238245","https://openalex.org/W2981774591","https://openalex.org/W2989603540","https://openalex.org/W2999990508","https://openalex.org/W3012313938","https://openalex.org/W3027127513","https://openalex.org/W3037827077","https://openalex.org/W3045788881","https://openalex.org/W3186191935","https://openalex.org/W3201912410","https://openalex.org/W3206527737","https://openalex.org/W3215336593","https://openalex.org/W4212863985","https://openalex.org/W4221145330","https://openalex.org/W4319319199","https://openalex.org/W4383097042","https://openalex.org/W4383097364","https://openalex.org/W4400745575","https://openalex.org/W6634956569","https://openalex.org/W6640290305","https://openalex.org/W6776760589"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W3168129058","https://openalex.org/W3094505422"],"abstract_inverted_index":{"Continuously":[0],"optimizing":[1,23],"sensor":[2,24,29],"placement":[3],"is":[4],"essential":[5],"for":[6,95],"precise":[7],"target":[8,137],"localization":[9],"in":[10,22,136,143,151],"various":[11],"military":[12],"and":[13,53,67,108,131,147],"civilian":[14],"applications.":[15],"While":[16],"information":[17,117],"theory":[18],"has":[19],"shown":[20],"promise":[21],"placement,":[25],"many":[26],"studies":[27],"oversimplify":[28],"measurement":[30,47,81,116,134],"models":[31,82,135],"or":[32,78],"neglect":[33],"dynamic":[34,68],"constraints":[35],"of":[36,89,106,114,122,155],"mobile":[37],"sensors.":[38],"To":[39],"address":[40],"these":[41],"challenges,":[42],"we":[43,101],"employ":[44],"a":[45,140,148],"range":[46,80,133],"model":[48],"that":[49],"incorporates":[50],"radar":[51],"parameters":[52],"radar\u2013target":[54],"distance,":[55],"coupled":[56],"with":[57],"model-predictive":[58],"path":[59],"integral":[60],"control":[61],"to":[62],"manage":[63],"complex":[64],"environmental":[65],"obstacles":[66],"constraints.":[69],"We":[70],"compare":[71],"the":[72,85,90,96,103,120,123,144,152,156],"proposed":[73,126],"approach":[74],"against":[75],"stationary":[76,129],"radars":[77,107,130],"simplified":[79,132],"based":[83],"on":[84],"root-mean-squared":[86],"error":[87],"(RMSE)":[88],"cubature":[91],"Kalman":[92],"filter":[93],"estimator":[94],"targets'":[97],"state.":[98],"In":[99],"addition,":[100],"visualize":[102],"evolving":[104],"geometry":[105],"targets":[109],"over":[110,161],"time,":[111],"highlighting":[112],"areas":[113],"highest":[115,158],"gain,":[118],"demonstrating":[119],"strengths":[121],"approach.":[124],"The":[125],"strategy":[127],"outperforms":[128],"localization,":[138],"achieving":[139],"38%\u201374%":[141],"reduction":[142,150],"mean":[145],"RMSE":[146],"33%\u201379%":[149],"upper":[153],"tail":[154],"90%":[157],"density":[159],"interval":[160],"500":[162],"Monte":[163],"Carlo":[164],"trials":[165],"across":[166],"all":[167],"time":[168],"steps.":[169]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}