{"id":"https://openalex.org/W2962072766","doi":"https://doi.org/10.1109/tro.2020.3005537","title":"A Successive-Elimination Approach to Adaptive Robotic Source Seeking","display_name":"A Successive-Elimination Approach to Adaptive Robotic Source Seeking","publication_year":2020,"publication_date":"2020-07-28","ids":{"openalex":"https://openalex.org/W2962072766","doi":"https://doi.org/10.1109/tro.2020.3005537","mag":"2962072766"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3005537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3005537","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.arxiv.org/pdf/1809.10611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047182302","display_name":"Esther Rolf","orcid":"https://orcid.org/0000-0001-5066-8656"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Esther Rolf","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070827615","display_name":"David Fridovich-Keil","orcid":"https://orcid.org/0000-0002-5866-6441"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Fridovich-Keil","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037154191","display_name":"Max Simchowitz","orcid":"https://orcid.org/0000-0001-9900-1238"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max Simchowitz","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012870568","display_name":"Benjamin Recht","orcid":"https://orcid.org/0000-0002-0293-593X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Recht","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047182302"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.1551,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51467677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"37","issue":"1","first_page":"34","last_page":"47"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11036","display_name":"Antibiotics Pharmacokinetics and Efficacy","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11036","display_name":"Antibiotics Pharmacokinetics and Efficacy","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.6890565752983093},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.665725588798523},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5479323267936707},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5379399061203003},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5126158595085144},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4894903898239136},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.487076073884964},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4820874035358429},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4117692708969116},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3392273187637329},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32903623580932617},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.24630206823349},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.19671359658241272},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1850740909576416}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6890565752983093},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.665725588798523},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5479323267936707},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5379399061203003},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5126158595085144},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4894903898239136},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.487076073884964},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4820874035358429},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4117692708969116},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3392273187637329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32903623580932617},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.24630206823349},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.19671359658241272},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1850740909576416},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2020.3005537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3005537","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"mag:2962072766","is_oa":true,"landing_page_url":"https://www.arxiv.org/pdf/1809.10611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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}],"best_oa_location":{"id":"mag:2962072766","is_oa":true,"landing_page_url":"https://www.arxiv.org/pdf/1809.10611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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},"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309151","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1573725801","https://openalex.org/W1941409503","https://openalex.org/W1979211426","https://openalex.org/W1980887003","https://openalex.org/W1999824796","https://openalex.org/W2048600308","https://openalex.org/W2074773410","https://openalex.org/W2083327122","https://openalex.org/W2096649264","https://openalex.org/W2115384379","https://openalex.org/W2117838467","https://openalex.org/W2136213019","https://openalex.org/W2141071699","https://openalex.org/W2145729159","https://openalex.org/W2147967768","https://openalex.org/W2166566250","https://openalex.org/W2172103629","https://openalex.org/W2269612621","https://openalex.org/W2283600647","https://openalex.org/W2497035783","https://openalex.org/W2564666437","https://openalex.org/W2623085795","https://openalex.org/W2739348220","https://openalex.org/W2752517374","https://openalex.org/W2890488422","https://openalex.org/W2963331653","https://openalex.org/W2964162338","https://openalex.org/W4236236480","https://openalex.org/W4245577611","https://openalex.org/W6632992360","https://openalex.org/W6684588553","https://openalex.org/W6697057306","https://openalex.org/W6730477360","https://openalex.org/W6743628514","https://openalex.org/W6756486208","https://openalex.org/W6759029013"],"related_works":["https://openalex.org/W2893010130","https://openalex.org/W3046558395","https://openalex.org/W3165778194","https://openalex.org/W2954544234","https://openalex.org/W2952482269","https://openalex.org/W1888754704","https://openalex.org/W2169645448","https://openalex.org/W2509546504","https://openalex.org/W3128696178","https://openalex.org/W2968098989","https://openalex.org/W637527836","https://openalex.org/W2523831029","https://openalex.org/W3112847334","https://openalex.org/W3106096591","https://openalex.org/W2130902106","https://openalex.org/W1539488127","https://openalex.org/W3207429552","https://openalex.org/W2040380470","https://openalex.org/W3206303178","https://openalex.org/W2087421501"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"study":[4],"an":[5,24],"adaptive":[6,53],"source":[7,54],"seeking":[8,55],"problem,":[9],"in":[10,23,56,72,77,142],"which":[11],"a":[12,21,49,96,127],"mobile":[13],"robot":[14],"must":[15],"identify":[16],"the":[17,57,85,101,116,135],"strongest":[18],"emitter(s)":[19],"of":[20,59,84,103,118,147],"signal":[22],"environment":[25],"with":[26,68],"background":[27,61,104],"emissions.":[28],"Background":[29],"signals":[30,105],"may":[31],"be":[32],"highly":[33,107],"heterogeneous":[34,60],"and":[35,126],"can":[36],"mislead":[37],"algorithms":[38],"that":[39,91,112],"are":[40],"based":[41,133],"on":[42,134],"receding":[43,128],"horizon":[44,130],"control.":[45],"We":[46,138],"propose":[47],"AdaSearch,":[48],"general":[50],"algorithm":[51],"for":[52,150],"face":[58],"noise.":[62],"AdaSearch":[63,92,121,141],"combines":[64],"global":[65],"trajectory":[66],"planning":[67],"principled":[69],"confidence":[70],"intervals":[71],"order":[73],"to":[74,115],"concentrate":[75],"measurements":[76],"promising":[78],"regions":[79],"while":[80],"guaranteeing":[81],"sufficient":[82],"coverage":[83],"entire":[86],"area.":[87],"Theoretical":[88],"analysis":[89],"shows":[90],"confers":[93],"gains":[94],"over":[95],"uniform":[97,124],"sampling":[98,125],"strategy":[99],"when":[100,113],"distribution":[102],"is":[106],"variable.":[108],"Simulation":[109],"experiments":[110],"demonstrate":[111,140],"applied":[114],"problem":[117],"radioactive":[119],"source-seeking,":[120],"outperforms":[122],"both":[123],"time":[129],"informationmaximization":[131],"approach":[132],"current":[136],"literature.":[137],"also":[139],"hardware,":[143],"providing":[144],"further":[145],"evidence":[146],"its":[148],"potential":[149],"real-time":[151],"implementation.":[152]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
