{"id":"https://openalex.org/W2624147343","doi":"https://doi.org/10.1109/tcns.2017.2782481","title":"Distributed Hierarchical Control for State Estimation With Robotic Sensor Networks","display_name":"Distributed Hierarchical Control for State Estimation With Robotic Sensor Networks","publication_year":2017,"publication_date":"2017-12-11","ids":{"openalex":"https://openalex.org/W2624147343","doi":"https://doi.org/10.1109/tcns.2017.2782481","mag":"2624147343"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2017.2782481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2017.2782481","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1706.01918","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012214191","display_name":"Charles Freundlich","orcid":"https://orcid.org/0000-0002-6081-7077"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Freundlich","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC (USA)"],"raw_orcid":"https://orcid.org/0000-0002-6081-7077","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC (USA)","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Zhang","orcid":"https://orcid.org/0000-0003-4882-9857"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Zhang","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC (USA)"],"raw_orcid":"https://orcid.org/0000-0003-4882-9857","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC (USA)","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080808780","display_name":"Michael M. Zavlanos","orcid":"https://orcid.org/0000-0003-1748-8228"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael M. Zavlanos","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC (USA)"],"raw_orcid":"https://orcid.org/0000-0003-1748-8228","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC (USA)","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08262781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"4","first_page":"2023","last_page":"2035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11182","display_name":"Auction Theory and Applications","score":0.9817000031471252,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11182","display_name":"Auction Theory and Applications","score":0.9817000031471252,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9438999891281128,"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/T13825","display_name":"Economic Policies and Impacts","score":0.9287999868392944,"subfield":{"id":"https://openalex.org/subfields/2002","display_name":"Economics and Econometrics"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.6422727108001709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6042858362197876},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5475633144378662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.53895503282547},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.48799246549606323},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.46496134996414185},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44008806347846985},{"id":"https://openalex.org/keywords/uncorrelated","display_name":"Uncorrelated","score":0.43745335936546326},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.42039138078689575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41695892810821533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.370349258184433},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3036912977695465},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17955780029296875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12929373979568481}],"concepts":[{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.6422727108001709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6042858362197876},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5475633144378662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.53895503282547},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.48799246549606323},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46496134996414185},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44008806347846985},{"id":"https://openalex.org/C169345407","wikidata":"https://www.wikidata.org/wiki/Q8216221","display_name":"Uncorrelated","level":2,"score":0.43745335936546326},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.42039138078689575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41695892810821533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.370349258184433},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3036912977695465},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17955780029296875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12929373979568481},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcns.2017.2782481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2017.2782481","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1706.01918","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.01918","pdf_url":"https://arxiv.org/pdf/1706.01918","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2624147343","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1706.01918","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1706.01918","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1706.01918","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1706.01918","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.01918","pdf_url":"https://arxiv.org/pdf/1706.01918","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2624147343.pdf","grobid_xml":"https://content.openalex.org/works/W2624147343.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1501454297","https://openalex.org/W1503324689","https://openalex.org/W1547347985","https://openalex.org/W1558657492","https://openalex.org/W1562003885","https://openalex.org/W1833252985","https://openalex.org/W1886379263","https://openalex.org/W1945539991","https://openalex.org/W1969458704","https://openalex.org/W1984338812","https://openalex.org/W2016130656","https://openalex.org/W2025217226","https://openalex.org/W2031060683","https://openalex.org/W2034704014","https://openalex.org/W2063893967","https://openalex.org/W2099430963","https://openalex.org/W2113560487","https://openalex.org/W2114549813","https://openalex.org/W2135132740","https://openalex.org/W2143088799","https://openalex.org/W2160540358","https://openalex.org/W2168992242","https://openalex.org/W2232251213","https://openalex.org/W2339179100","https://openalex.org/W2511088267","https://openalex.org/W2964162338","https://openalex.org/W6687231639","https://openalex.org/W6888765124"],"related_works":["https://openalex.org/W2568456032","https://openalex.org/W2045863568","https://openalex.org/W1972953309","https://openalex.org/W2051389290","https://openalex.org/W2744525608","https://openalex.org/W2072975892","https://openalex.org/W2157233994","https://openalex.org/W2243326362","https://openalex.org/W2781526457","https://openalex.org/W2052413220","https://openalex.org/W2100113008","https://openalex.org/W2742864640","https://openalex.org/W3153578573","https://openalex.org/W2116677897","https://openalex.org/W2479826733","https://openalex.org/W1509381486","https://openalex.org/W1022050944","https://openalex.org/W2048539797","https://openalex.org/W2107787961","https://openalex.org/W2120624643"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"active":[3],"state":[4,99],"estimation":[5,100],"with":[6],"a":[7,26,46,77],"team":[8],"of":[9,33,65,116,124],"robotic":[10],"sensors.":[11,120,137],"The":[12,96],"states":[13,39,117],"to":[14,52,85,113],"be":[15],"estimated":[16],"are":[17],"represented":[18],"by":[19],"spatially":[20],"distributed,":[21],"uncorrelated,":[22],"stationary":[23],"vectors.":[24],"Given":[25],"prior":[27],"belief":[28,72],"on":[29,88],"the":[30,34,38,62,70,89,105,125],"geographic":[31],"locations":[32],"states,":[35],"we":[36,75],"cluster":[37,59,106],"in":[40,69,128],"moderately":[41],"sized":[42],"groups":[43],"and":[44,118,131],"propose":[45],"new":[47],"hierarchical":[48],"dynamic":[49],"programming":[50],"framework":[51,101],"compute":[53],"optimal":[54,67,91,103],"sensing":[55],"policies":[56,68,92],"for":[57],"each":[58,94],"that":[60,81],"mitigates":[61],"computational":[63],"cost":[64],"planning":[66],"combined":[71],"space.":[73],"Then,":[74],"develop":[76],"decentralized":[78],"assignment":[79],"algorithm":[80],"dynamically":[82],"allocates":[83],"clusters":[84],"robots":[86],"based":[87],"precomputed":[90],"at":[93,104],"cluster.":[95],"integrated":[97],"distributed":[98],"is":[102],"level":[107],"but":[108],"also":[109],"scales":[110],"very":[111],"well":[112],"large":[114],"numbers":[115],"robot":[119],"We":[121],"demonstrate":[122],"efficiency":[123],"proposed":[126],"method":[127],"both":[129],"simulations":[130],"real-world":[132],"experiments":[133],"using":[134],"stereoscopic":[135],"vision":[136]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}