{"id":"https://openalex.org/W2315761665","doi":"https://doi.org/10.1109/tase.2014.2366295","title":"Performance Guarantee of an Approximate Dynamic Programming Policy for Robotic Surveillance","display_name":"Performance Guarantee of an Approximate Dynamic Programming Policy for Robotic Surveillance","publication_year":2014,"publication_date":"2014-12-19","ids":{"openalex":"https://openalex.org/W2315761665","doi":"https://doi.org/10.1109/tase.2014.2366295","mag":"2315761665"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2014.2366295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2014.2366295","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5046209452","display_name":"Myoungkuk Park","orcid":"https://orcid.org/0000-0002-0060-9161"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Myoungkuk Park","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024933094","display_name":"Krishna Kalyanam","orcid":"https://orcid.org/0000-0003-4670-7012"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Krishnamoorthy Kalyanam","raw_affiliation_strings":["InfoSciTex Corporation, Dayton, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"InfoSciTex Corporation, Dayton, OH, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102875083","display_name":"Swaroop Darbha","orcid":"https://orcid.org/0000-0001-8377-0657"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swaroop Darbha","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004650986","display_name":"Pramod P. Khargonekar","orcid":"https://orcid.org/0000-0001-6634-6950"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pramod P. Khargonekar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030813743","display_name":"Meir Pachter","orcid":"https://orcid.org/0000-0003-0584-6913"},"institutions":[{"id":"https://openalex.org/I55061410","display_name":"U.S. Air Force Institute of Technology","ror":"https://ror.org/03f9f1d95","country_code":"US","type":"education","lineage":["https://openalex.org/I1294991024","https://openalex.org/I1330347796","https://openalex.org/I1330347796","https://openalex.org/I2802362820","https://openalex.org/I4210089612","https://openalex.org/I4210102105","https://openalex.org/I4210102105","https://openalex.org/I55061410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Meir Pachter","raw_affiliation_strings":["Department of Electrical Engineering, Air Force Institute of Technology, Dayton, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Air Force Institute of Technology, Dayton, OH, USA","institution_ids":["https://openalex.org/I55061410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010248000","display_name":"Phillip Chandler","orcid":null},"institutions":[{"id":"https://openalex.org/I1280414376","display_name":"United States Air Force Research Laboratory","ror":"https://ror.org/02e2egq70","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280414376","https://openalex.org/I1330347796","https://openalex.org/I4210102105","https://openalex.org/I4389425425"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phillip R. Chandler","raw_affiliation_strings":["Autonomous Control Branch, Air Force Research Laboratory, Dayton, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Control Branch, Air Force Research Laboratory, Dayton, OH, USA","institution_ids":["https://openalex.org/I1280414376"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.2544315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"13","issue":"2","first_page":"564","last_page":"578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9930999875068665,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/markov-decision-process","display_name":"Markov decision process","score":0.7617967128753662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6932462453842163},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.6834450364112854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.650477409362793},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.6188870668411255},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5779057741165161},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5519789457321167},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4921230673789978},{"id":"https://openalex.org/keywords/bellman-equation","display_name":"Bellman equation","score":0.45388585329055786},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.4118993282318115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37907689809799194},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3527509570121765},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3503686487674713},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.253534734249115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18567708134651184},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1273351013660431}],"concepts":[{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7617967128753662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6932462453842163},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.6834450364112854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.650477409362793},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.6188870668411255},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5779057741165161},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5519789457321167},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4921230673789978},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.45388585329055786},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.4118993282318115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37907689809799194},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3527509570121765},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3503686487674713},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.253534734249115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18567708134651184},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1273351013660431},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2014.2366295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2014.2366295","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1745373831","https://openalex.org/W1964535365","https://openalex.org/W1983920151","https://openalex.org/W2005171403","https://openalex.org/W2020879003","https://openalex.org/W2025750542","https://openalex.org/W2028145673","https://openalex.org/W2037448290","https://openalex.org/W2040766536","https://openalex.org/W2055624361","https://openalex.org/W2080125327","https://openalex.org/W2089670093","https://openalex.org/W2091658074","https://openalex.org/W2115592422","https://openalex.org/W2117282672","https://openalex.org/W2127192526","https://openalex.org/W2127496200","https://openalex.org/W2131320645","https://openalex.org/W2134293360","https://openalex.org/W2134932665","https://openalex.org/W2161128818","https://openalex.org/W2165837246","https://openalex.org/W2167975720","https://openalex.org/W2170400507","https://openalex.org/W3103882218","https://openalex.org/W6655643247","https://openalex.org/W6656978098","https://openalex.org/W6684881399"],"related_works":["https://openalex.org/W4255265352","https://openalex.org/W4239477580","https://openalex.org/W4389475841","https://openalex.org/W2952594763","https://openalex.org/W2152670157","https://openalex.org/W4241327272","https://openalex.org/W2903299703","https://openalex.org/W4281791088","https://openalex.org/W4385342861","https://openalex.org/W1574958246"],"abstract_inverted_index":{"This":[0,182,304],"paper":[1,242,631],"is":[2,29,41,150,155,205,243,305,338,363,376,388,402,423,435,446,453,467,478,552,562,612,691],"focused":[3],"on":[4,87,456,543,565],"the":[5,32,37,45,53,61,65,79,88,98,128,147,158,201,207,230,244,254,264,273,286,291,333,364,373,379,393,416,428,431,438,450,457,461,481,485,494,510,517,530,544,574,577,587,603,625,638,642,645,649,662,665],"development":[6],"and":[7,72,75,90,95,174,197,233,253,316,382,449,460,506,515,594,621,651],"analysis":[8],"of":[9,16,34,83,92,161,203,206,209,240,246,256,288,293,318,328,335,407,412,430,440,496,576,584,589,605,664,675],"suboptimal":[10,235,258,346,358,366,385,498,532,679],"decision":[11,153],"algorithms":[12],"for":[13,110,126,194,300,309,345,420,493,509,556,572,677,681],"a":[14,20,111,163,188,226,247,257,323,357,384,405,424,470,497,536,606,655,672,687],"collection":[15],"robots":[17,99,196],"that":[18,146,320,387,487,529,540,690],"assist":[19],"remotely":[21],"located":[22],"operator":[23,28,129],"in":[24,52,130,276,290,307,322,437,484,539,586,602,629],"perimeter":[25,269],"surveillance.":[26],"The":[27,81,152,170,237,326,410,443,475,609,619],"tasked":[30],"with":[31,390,535,554,598,644,686],"classification":[33,85,132],"incursions":[35,103,171],"across":[36],"perimeter.":[38],"whenever":[39],"there":[40,561],"an":[42,47,56,120,168,398,521,591],"incursion":[43],"into":[44],"perimeter,":[46],"unattended":[48],"ground":[49],"sensor":[50],"(UGS)":[51],"vicinity,":[54],"signals":[55],"alert.":[57,169],"A":[58,368],"robot":[59,164],"services":[60],"alert":[62,66,121],"by":[63,97,469,640],"visiting":[64],"location,":[67],"collecting":[68],"information,":[69],"e.g.,":[70],"photo":[71],"video":[73],"imagery,":[74],"transmitting":[76],"it":[77,113,134,541,547],"to":[78,115,123,137,156,179,228,280,296,332,371,377,392,414,480,490,596,615,624,636,693],"operator.":[80],"accuracy":[82],"operator's":[84],"depends":[86],"volume":[89],"freshness":[91],"information":[93],"gathered":[94],"provided":[96],"at":[100,119,433],"locations":[101],"where":[102],"occur.":[104],"There":[105],"are":[106,172,177,569],"two":[107,195],"competing":[108],"objectives":[109],"robot:":[112],"needs":[114,136,489],"spend":[116,166],"adequate":[117],"time":[118,162],"location":[122],"collect":[124],"evidence":[125,148],"aiding":[127],"accurate":[131],"but":[133],"also":[135,527,570,633],"service":[138],"other":[139],"alerts":[140],"as":[141,143,187,520],"soon":[142],"possible,":[144],"so":[145],"collected":[149],"relevant.":[151],"problem":[154,183,375,422,432,610],"determine":[157,297],"optimal":[159,298,336,462],"amount":[160],"must":[165,343],"servicing":[167],"stochastic":[173,324],"their":[175],"statistics":[176],"assumed":[178],"be":[180,185,634,658,671],"known.":[181],"can":[184],"posed":[186],"Markov":[189,302,684],"Decision":[190],"Problem.":[191],"However,":[192],"even":[193],"five":[198],"UGS":[199],"locations,":[200],"number":[202,583],"states":[204],"order":[208],"billions":[210],"rendering":[211],"exact":[212],"dynamic":[213,218,294,310],"programming":[214,219,223,295],"methods":[215],"intractable.":[216],"Approximate":[217],"(ADP)":[220],"via":[221,251,404],"linear":[222,600],"(LP)":[224],"provides":[225],"way":[227],"approximate":[229,378,394,399,522],"value":[231,329,380,395,400,465,511,523,626],"function":[232,381,401,466,512,627,689],"derive":[234],"strategies.":[236],"novel":[238],"feature":[239],"this":[241,277,501,630,669],"derivation":[245],"tractable":[248],"lower":[249,265,507,518,545,566,607,622,652],"bound":[250,519,593],"LP":[252],"construction":[255,439],"policy":[259,386,533],"whose":[260],"performance":[261,495,537],"improves":[262,542],"upon":[263],"bound.":[266,608],"An":[267],"illustrative":[268],"surveillance":[270],"example":[271],"corroborates":[272],"results":[274],"derived":[275,549],"paper.":[278],"Note":[279],"Practitioners-In":[281],"practice,":[282],"one":[283,342,355,488],"often":[284],"encounters":[285,580],"curse":[287],"dimensionality":[289],"application":[292],"policies":[299,680],"controlled":[301,683],"chains.":[303],"true,":[306],"particular,":[308],"scheduling":[311],"problems":[312],"involving":[313],"multiple":[314],"robots/servers":[315],"queues":[317],"tasks":[319],"arrive":[321],"fashion.":[325],"computation":[327],"function,":[330],"critical":[331],"determination":[334],"policies,":[337],"nearly":[339],"impractical.":[340],"Hence,":[341],"settle":[344],"policies.":[347],"Two":[348],"natural":[349],"questions":[350],"arise:":[351],"(1)":[352],"How":[353,361],"does":[354],"construct":[356,383,491,504],"policy?":[359,367],"(2)":[360],"\u201cgood\u201d":[362],"constructed":[365,403],"common":[369],"strategy":[370],"tackle":[372],"first":[374,482],"greedy":[389],"respect":[391],"function.":[396,524],"Typically,":[397],"choice":[406],"basis":[408,417,441],"functions.":[409,442],"question":[411,477,483],"how":[413],"choose":[415],"functions":[418],"systematically":[419],"any":[421,682],"difficult":[425],"one;":[426],"usually,":[427],"structure":[429,459,611,663],"hand":[434],"exploited":[436,613],"same":[444],"approach":[445],"taken":[447],"here":[448,614],"state":[451,694],"space":[452],"partitioned":[454],"based":[455],"reward":[458,688],"cost-to-go":[463],"or":[464],"approximated":[468],"constant":[471],"over":[472],"each":[473],"partition.":[474],"second":[476],"related":[479],"sense":[486],"bounds":[492,508,623],"policy.":[499,578],"In":[500],"paper,":[502],"we":[503,526],"upper":[505,558,592,620,650],"(optimal":[513],"performance)":[514],"use":[516],"Furthermore,":[525],"show":[528],"resulting":[531],"comes":[534],"guarantee,":[538],"bound,":[546],"was":[548],"from.":[550],"Literature":[551],"replete":[553],"techniques":[555],"computing":[557,590],"bounds;":[559,653],"however,":[560],"little":[563],"work":[564],"bounds,":[567],"which":[568],"required":[571],"bounding":[573],"suboptimality":[575],"One":[579],"prohibitively":[581],"large":[582],"constraints":[585],"case":[588,604],"has":[595],"deal":[597],"disjunctive":[599],"inequalities":[601],"circumvent":[616],"these":[617],"difficulties.":[618],"developed":[628],"could":[632,657,670],"used":[635],"refine":[637],"partitions":[639],"identifying":[641],"partition":[643,656],"largest":[646],"difference":[647],"between":[648],"such":[654],"refined":[659],"further":[660],"using":[661],"problem.":[666],"For":[667],"practitioners,":[668],"useful":[673],"set":[674],"tools":[676],"generating":[678],"chain":[685],"amenable":[692],"aggregation.":[695]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}