{"id":"https://openalex.org/W4226226678","doi":"https://doi.org/10.1109/tcns.2022.3158746","title":"Co-Optimization of Motion, Communication, and Sensing in Real Wireless Channel Environments via Monte Carlo Tree Search","display_name":"Co-Optimization of Motion, Communication, and Sensing in Real Wireless Channel Environments via Monte Carlo Tree Search","publication_year":2022,"publication_date":"2022-03-15","ids":{"openalex":"https://openalex.org/W4226226678","doi":"https://doi.org/10.1109/tcns.2022.3158746"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2022.3158746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2022.3158746","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":["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/A5101765477","display_name":"Hong Cai","orcid":"https://orcid.org/0000-0002-7388-747X"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hong Cai","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7388-747X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015127940","display_name":"Yasamin Mostofi","orcid":"https://orcid.org/0000-0003-2670-2214"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yasamin Mostofi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2670-2214","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154570441"],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":null,"fwci":0.4761,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63116276,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"9","issue":"3","first_page":"1493","last_page":"1505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","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/T10249","display_name":"Distributed Control Multi-Agent Systems","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7074654698371887},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6405359506607056},{"id":"https://openalex.org/keywords/fading","display_name":"Fading","score":0.6199280023574829},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5110636949539185},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5078988671302795},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5043190717697144},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4884147047996521},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.48784303665161133},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.48719972372055054},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4696197807788849},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.46822473406791687},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.45849740505218506},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.44669365882873535},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.44454994797706604},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4278724491596222},{"id":"https://openalex.org/keywords/stochastic-optimization","display_name":"Stochastic optimization","score":0.42319774627685547},{"id":"https://openalex.org/keywords/path-loss","display_name":"Path loss","score":0.41948771476745605},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4124610424041748},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36240994930267334},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.25830167531967163},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16714218258857727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15181782841682434},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11708685755729675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10212141275405884}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7074654698371887},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6405359506607056},{"id":"https://openalex.org/C81978471","wikidata":"https://www.wikidata.org/wiki/Q1196572","display_name":"Fading","level":3,"score":0.6199280023574829},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5110636949539185},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5078988671302795},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5043190717697144},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4884147047996521},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.48784303665161133},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.48719972372055054},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4696197807788849},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.46822473406791687},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.45849740505218506},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.44669365882873535},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.44454994797706604},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4278724491596222},{"id":"https://openalex.org/C194387892","wikidata":"https://www.wikidata.org/wiki/Q1747770","display_name":"Stochastic optimization","level":2,"score":0.42319774627685547},{"id":"https://openalex.org/C194273485","wikidata":"https://www.wikidata.org/wiki/Q1478845","display_name":"Path loss","level":3,"score":0.41948771476745605},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4124610424041748},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36240994930267334},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.25830167531967163},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16714218258857727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15181782841682434},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11708685755729675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10212141275405884},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcns.2022.3158746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2022.3158746","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W595252221","https://openalex.org/W1625390266","https://openalex.org/W1788292158","https://openalex.org/W2031060683","https://openalex.org/W2039216363","https://openalex.org/W2095960740","https://openalex.org/W2106200370","https://openalex.org/W2126316555","https://openalex.org/W2143088799","https://openalex.org/W2147632919","https://openalex.org/W2148506166","https://openalex.org/W2150010456","https://openalex.org/W2160643434","https://openalex.org/W2165188714","https://openalex.org/W2412503523","https://openalex.org/W2514253066","https://openalex.org/W2591037921","https://openalex.org/W2620408778","https://openalex.org/W2742062962","https://openalex.org/W2757430258","https://openalex.org/W2810565864","https://openalex.org/W2888360891","https://openalex.org/W2896225747","https://openalex.org/W2898400492","https://openalex.org/W2912719095","https://openalex.org/W2915977602","https://openalex.org/W2922037304","https://openalex.org/W2946866968","https://openalex.org/W2962911744","https://openalex.org/W2963629310","https://openalex.org/W3004751533","https://openalex.org/W3013462871","https://openalex.org/W3027985734","https://openalex.org/W3099595001","https://openalex.org/W4213251304","https://openalex.org/W4250589301","https://openalex.org/W6679093593","https://openalex.org/W6683869290"],"related_works":["https://openalex.org/W2571592646","https://openalex.org/W4247855592","https://openalex.org/W2740304877","https://openalex.org/W2978000411","https://openalex.org/W4226164546","https://openalex.org/W2766259847","https://openalex.org/W2112583639","https://openalex.org/W2567165815","https://openalex.org/W346633817","https://openalex.org/W2563266764"],"abstract_inverted_index":{"We":[0,202,222],"consider":[1],"the":[2,22,44,71,86,97,141,159,163,170,177,180,197,205,219,232,245],"problem":[3,111,200],"where":[4,231],"a":[5,9,13,40,121,189],"robot":[6,25],"navigates":[7],"from":[8],"start":[10],"position":[11],"to":[12,17,34,39,69,107,134,194,244],"destination":[14],"and":[15,32,58,75,88,94,113,127,136,146,166,179,214,238,241],"needs":[16,33],"sense":[18],"some":[19],"sites":[20],"along":[21,52,85],"way.":[23],"The":[24],"collects":[26],"data":[27,38,83],"when":[28],"sensing":[29,89],"each":[30],"site":[31],"transmit":[35],"all":[36],"collected":[37],"remote":[41],"station":[42],"by":[43,79,157],"end":[45],"of":[46,143,186,207,218],"its":[47,53,81,211],"trip,":[48],"as":[49],"it":[50],"moves":[51],"path,":[54,82,87],"under":[55,91],"time/energy":[56],"constraints,":[57],"while":[59,95],"operating":[60],"in":[61,162,169,183,188,227],"real":[62],"wireless":[63,99,229],"fading":[64,240],"environments.":[65],"Our":[66],"goal":[67],"is":[68,242],"minimize":[70],"robot's":[72],"total":[73],"motion":[74,147,167],"communication":[76,181],"energy":[77],"costs":[78],"co-optimizing":[80],"transmission":[84,160],"decisions,":[90],"given":[92],"constraints":[93],"considering":[96,158],"stochastic":[98],"channel.":[100],"In":[101],"this":[102,109,150],"paper,":[103],"we":[104,119,154,173],"show":[105,155],"how":[106],"solve":[108,138,196],"co-optimization":[110,199],"efficiently":[112,135],"with":[114],"performance":[115],"guarantees.":[116],"More":[117],"specifically,":[118],"formulate":[120],"specially-designed":[122],"Markov":[123],"Decision":[124],"Process":[125],"(MDP)":[126],"utilize":[128],"Monte":[129],"Carlo":[130],"Tree":[131],"Search":[132],"(MCTS)":[133],"optimally":[137],"it.":[139],"While":[140],"co-dependence":[142],"communication,":[144],"sensing,":[145],"decisions":[148],"makes":[149],"joint":[151],"optimization":[152,161],"challenging,":[153],"that":[156,191],"terminal":[164],"reward":[165],"actions":[168],"state":[171],"transitions,":[172],"can":[174],"iteratively":[175],"optimize":[176],"sensing/motion":[178],"parts":[182],"different":[184],"stages":[185],"MCTS,":[187],"way":[190],"allows":[192],"us":[193],"equivalently":[195],"original":[198],"efficiently.":[201],"mathematically":[203],"prove":[204],"convergence":[206,212],"our":[208,225],"approach,":[209],"characterize":[210],"speed,":[213],"derive":[215],"key":[216],"properties":[217],"optimum":[220],"solution.":[221],"extensively":[223],"evaluate":[224],"approach":[226],"realistic":[228],"environments":[230],"channel":[233],"experiences":[234],"path":[235],"loss,":[236],"shadowing,":[237],"multi-path":[239],"unknown":[243],"robot.":[246]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}