{"id":"https://openalex.org/W3215629351","doi":"https://doi.org/10.1109/thms.2021.3113642","title":"Information-Based Control of Robots in Search-and-Rescue Missions With Human Prior Knowledge","display_name":"Information-Based Control of Robots in Search-and-Rescue Missions With Human Prior Knowledge","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W3215629351","doi":"https://doi.org/10.1109/thms.2021.3113642","mag":"3215629351"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2021.3113642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3113642","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine 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/A5043069057","display_name":"Rafal Krzysiak","orcid":null},"institutions":[{"id":"https://openalex.org/I102502594","display_name":"Northern Illinois University","ror":"https://ror.org/012wxa772","country_code":"US","type":"education","lineage":["https://openalex.org/I102502594"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rafal Krzysiak","raw_affiliation_strings":["Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL, USA","[Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL 60115 USA (e-mail: z1824735@students.niu.edu).]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL, USA","institution_ids":["https://openalex.org/I102502594"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL 60115 USA (e-mail: z1824735@students.niu.edu).]","institution_ids":["https://openalex.org/I102502594"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059081586","display_name":"Sachit Butail","orcid":"https://orcid.org/0000-0001-9785-7374"},"institutions":[{"id":"https://openalex.org/I102502594","display_name":"Northern Illinois University","ror":"https://ror.org/012wxa772","country_code":"US","type":"education","lineage":["https://openalex.org/I102502594"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachit Butail","raw_affiliation_strings":["Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL, USA","[Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL 60115 USA (e-mail: sbutail@niu.edu).]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL, USA","institution_ids":["https://openalex.org/I102502594"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, Northern Illinois University, DeKalb, IL 60115 USA (e-mail: sbutail@niu.edu).]","institution_ids":["https://openalex.org/I102502594"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043069057"],"corresponding_institution_ids":["https://openalex.org/I102502594"],"apc_list":null,"apc_paid":null,"fwci":1.9063,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.86715978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"52","issue":"1","first_page":"52","last_page":"63"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9983999729156494,"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":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.6406461596488953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5381143689155579},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.5053932666778564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.500920295715332},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4682529866695404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4404149651527405},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.43420732021331787},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.152248352766037}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.6406461596488953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5381143689155579},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.5053932666778564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.500920295715332},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4682529866695404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4404149651527405},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.43420732021331787},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.152248352766037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2021.3113642","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3113642","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1167948029","display_name":null,"funder_award_id":"# IIS-2033918","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W167756786","https://openalex.org/W1164749991","https://openalex.org/W1502498694","https://openalex.org/W1599627703","https://openalex.org/W1974513678","https://openalex.org/W1974963694","https://openalex.org/W1979426194","https://openalex.org/W2012812921","https://openalex.org/W2047265791","https://openalex.org/W2061669454","https://openalex.org/W2061957606","https://openalex.org/W2069287462","https://openalex.org/W2081631327","https://openalex.org/W2099111195","https://openalex.org/W2099114258","https://openalex.org/W2105925198","https://openalex.org/W2109664384","https://openalex.org/W2113739894","https://openalex.org/W2121142533","https://openalex.org/W2142332594","https://openalex.org/W2144363215","https://openalex.org/W2145729159","https://openalex.org/W2148870976","https://openalex.org/W2169138078","https://openalex.org/W2220074677","https://openalex.org/W2267863633","https://openalex.org/W2303709411","https://openalex.org/W2305148090","https://openalex.org/W2411321320","https://openalex.org/W2423300849","https://openalex.org/W2543580944","https://openalex.org/W2584995369","https://openalex.org/W2614339750","https://openalex.org/W2736361778","https://openalex.org/W2766053765","https://openalex.org/W2766962317","https://openalex.org/W2793317619","https://openalex.org/W2809222802","https://openalex.org/W2810169700","https://openalex.org/W2820915287","https://openalex.org/W2885261226","https://openalex.org/W2896004893","https://openalex.org/W2902857859","https://openalex.org/W2916883963","https://openalex.org/W2942228371","https://openalex.org/W2952748090","https://openalex.org/W2964022460","https://openalex.org/W2989978193","https://openalex.org/W2991449738","https://openalex.org/W3012264108","https://openalex.org/W3036928945","https://openalex.org/W3046179794","https://openalex.org/W3133663968","https://openalex.org/W4241021229","https://openalex.org/W4254059477","https://openalex.org/W6738547161","https://openalex.org/W6785649490"],"related_works":["https://openalex.org/W2117893626","https://openalex.org/W1488897159","https://openalex.org/W2065470608","https://openalex.org/W4206733587","https://openalex.org/W2543684242","https://openalex.org/W2920942130","https://openalex.org/W2367640936","https://openalex.org/W257921636","https://openalex.org/W2388951953","https://openalex.org/W2160229054"],"abstract_inverted_index":{"Multirobot":[0],"systems":[1],"provide":[2],"a":[3,22,43,59,101,213],"scalable":[4],"and":[5,17,54,72,74,115,135,176,218],"robust":[6],"solution":[7],"for":[8],"monitoring":[9],"tasks.":[10],"In":[11,38],"time-intensive":[12,233],"missions":[13,56,132],"such":[14],"as":[15],"search":[16,53,88],"rescue,":[18],"the":[19,25,33,69,91,113,116,121,149,158,162,165,177,187,206,219,222],"inclusion":[20],"of":[21,28,104,112,139,164,179,189,205,216,224],"human":[23,60,92,142,196,225],"has":[24],"potential":[26],"advantage":[27],"incorporating":[29],"prior":[30,63,143,174,197,226],"knowledge":[31,64,175,198,227],"about":[32],"target":[34,70,114],"location":[35,71],"or":[36,89],"dynamics.":[37],"this":[39],"article,":[40],"we":[41],"develop":[42],"general":[44],"information-theoretic":[45,203],"framework":[46,122],"to":[47,67,79,123,186],"control":[48,76,98,167,192],"multiple":[49],"autonomous":[50,81],"robots":[51,82,155],"in":[52,95,141,193,232],"rescue":[55],"that":[57,148],"include":[58],"teleoperator.":[61],"Human":[62],"is":[65,77,199],"modeled":[66],"capture":[68],"dynamics,":[73],"mutual-information-based":[75],"formulated":[78],"let":[80],"weigh":[83,156],"between":[84,157,170],"two":[85,125,159],"strategies:":[86],"independent":[87],"assisting":[90],"by":[93,173],"staying":[94],"proximity.":[96],"The":[97,201],"actions":[99],"optimize":[100],"weighted":[102],"sum":[103],"normalized":[105],"mutual":[106],"information":[107],"calculated":[108],"using":[109],"particle-filtered":[110],"estimates":[111],"reference":[117],"robot.":[118],"We":[119],"implement":[120],"simulate":[124],"widely":[126],"different":[127],"scenarios":[128,217],"designed":[129],"after":[130],"search-and-rescue":[131],"from":[133],"literature,":[134],"incorporate":[136],"varying":[137],"levels":[138],"accuracy":[140],"knowledge.":[144],"Our":[145],"results":[146,220],"indicate":[147],"mission":[150],"performance":[151],"depends":[152],"on":[153,212],"how":[154],"strategies,":[160],"with":[161,182],"amount":[163],"optimal":[166],"effort":[168],"shared":[169],"strategies":[171,184],"affected":[172],"number":[178],"robots.":[180],"Comparison":[181],"existing":[183],"points":[185],"benefits":[188],"an":[190],"information-based":[191],"situations":[194],"where":[195],"inaccurate.":[200],"proposed":[202],"abstraction":[204],"human&#x2013;robot":[207],"interaction":[208],"can":[209],"be":[210],"implemented":[211],"wide":[214],"variety":[215],"highlight":[221],"role":[223],"toward":[228],"effective":[229],"robotic":[230],"assistance":[231],"missions.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2025-10-10T00:00:00"}
