{"id":"https://openalex.org/W4361852422","doi":"https://doi.org/10.1109/tro.2023.3257512","title":"Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams","display_name":"Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams","publication_year":2023,"publication_date":"2023-03-30","ids":{"openalex":"https://openalex.org/W4361852422","doi":"https://doi.org/10.1109/tro.2023.3257512"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3257512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3257512","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":"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/A5100901921","display_name":"Xiaoyi Cai","orcid":"https://orcid.org/0000-0001-9747-7013"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiaoyi Cai","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057774600","display_name":"Brent Schlotfeldt","orcid":"https://orcid.org/0000-0002-2016-6492"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brent Schlotfeldt","raw_affiliation_strings":["Waymo, Mountain View, CA, USA"],"affiliations":[{"raw_affiliation_string":"Waymo, Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019984273","display_name":"Kasra Khosoussi","orcid":"https://orcid.org/0000-0002-9969-1176"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"funder","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kasra Khosoussi","raw_affiliation_strings":["Commonwealth Scientific and Industrial Research Organisation (CSIRO), Brisbane, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"Commonwealth Scientific and Industrial Research Organisation (CSIRO), Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066400889","display_name":"Nikolay Atanasov","orcid":"https://orcid.org/0000-0003-0272-7580"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolay Atanasov","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of California San Diego, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George J. Pappas","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100901921"],"corresponding_institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.2069,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.88044299,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"4","first_page":"2585","last_page":"2602"},"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":0.9962999820709229,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6913095116615295},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5714611411094666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5653221607208252},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4861733317375183},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.47830015420913696},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4632417559623718},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.43782374262809753},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.351190447807312},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34359315037727356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29709798097610474},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09217342734336853},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08633348345756531}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6913095116615295},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5714611411094666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5653221607208252},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4861733317375183},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.47830015420913696},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4632417559623718},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.43782374262809753},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.351190447807312},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34359315037727356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29709798097610474},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09217342734336853},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08633348345756531},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3257512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3257512","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W1503396090","https://openalex.org/W1562003885","https://openalex.org/W1898824936","https://openalex.org/W1967763923","https://openalex.org/W1972624884","https://openalex.org/W1980569135","https://openalex.org/W2026338082","https://openalex.org/W2034656218","https://openalex.org/W2040538966","https://openalex.org/W2045492898","https://openalex.org/W2061203066","https://openalex.org/W2065297540","https://openalex.org/W2098846072","https://openalex.org/W2104969271","https://openalex.org/W2109656638","https://openalex.org/W2115384379","https://openalex.org/W2125069195","https://openalex.org/W2140929789","https://openalex.org/W2143088799","https://openalex.org/W2166295994","https://openalex.org/W2202942124","https://openalex.org/W2254288984","https://openalex.org/W2340181196","https://openalex.org/W2464603117","https://openalex.org/W2484646121","https://openalex.org/W2489231587","https://openalex.org/W2491042601","https://openalex.org/W2500139799","https://openalex.org/W2520459424","https://openalex.org/W2530592706","https://openalex.org/W2583768145","https://openalex.org/W2588802774","https://openalex.org/W2591921113","https://openalex.org/W2605735511","https://openalex.org/W2757107770","https://openalex.org/W2789189366","https://openalex.org/W2790514337","https://openalex.org/W2791580684","https://openalex.org/W2883975974","https://openalex.org/W2921561174","https://openalex.org/W2936516903","https://openalex.org/W2948697879","https://openalex.org/W2949112927","https://openalex.org/W2964162338","https://openalex.org/W2964664157","https://openalex.org/W2967029387","https://openalex.org/W2968945909","https://openalex.org/W2969167400","https://openalex.org/W2986543921","https://openalex.org/W2991613226","https://openalex.org/W2999237103","https://openalex.org/W3004751533","https://openalex.org/W3007871119","https://openalex.org/W3011713702","https://openalex.org/W3015162794","https://openalex.org/W3096656822","https://openalex.org/W3104880332","https://openalex.org/W3152770304","https://openalex.org/W3175672857","https://openalex.org/W3184816927","https://openalex.org/W3204996636","https://openalex.org/W3206527737","https://openalex.org/W3206758991","https://openalex.org/W3215246423","https://openalex.org/W4224314738","https://openalex.org/W4291671317","https://openalex.org/W4311241294","https://openalex.org/W6631084031","https://openalex.org/W6691621831","https://openalex.org/W6703592533","https://openalex.org/W6724212191","https://openalex.org/W6763004127"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W1568779110","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680"],"abstract_inverted_index":{"This":[0],"article":[1],"considers":[2],"the":[3,21,42,82,142],"problem":[4],"of":[5,10,44],"safely":[6],"coordinating":[7],"a":[8,17,37,96,100,108,113,146],"team":[9],"sensor-equipped":[11],"robots":[12],"to":[13,36,70,79],"reduce":[14],"uncertainty":[15],"about":[16],"dynamical":[18],"process,":[19],"where":[20],"objective":[22,39],"tradeoffs":[23],"information":[24],"gain":[25],"and":[26,87,112,124,136,151],"energy":[27,152],"cost.":[28],"Optimizing":[29],"this":[30,93],"tradeoff":[31,148],"is":[32,77],"desirable,":[33],"but":[34],"leads":[35],"nonmonotone":[38],"function":[40],"in":[41],"set":[43],"robot":[45],"trajectories.":[46],"Therefore,":[47],"common":[48],"multirobot":[49],"planners":[50],"based":[51,116],"on":[52,117],"coordinate":[53],"descent":[54],"lose":[55,64],"their":[56,65],"performance":[57,66,110],"guarantees.":[58],"Furthermore,":[59],"methods":[60],"that":[61,103,121,141],"handle":[62],"nonmonotonicity":[63],"guarantees":[67,111],"when":[68],"subject":[69],"interrobot":[71],"collision":[72],"avoidance":[73],"constraints.":[74],"As":[75],"it":[76],"desirable":[78],"retain":[80],"both":[81],"<italic":[83,88],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84,89],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">performance":[85],"guarantee</i>":[86,91],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">safety":[90],",":[92],"work":[94],"proposes":[95],"hierarchical":[97],"approach":[98,144],"with":[99,107],"distributed":[101],"planner":[102],"uses":[104],"local":[105],"search":[106],"worst-case":[109],"decentralized":[114],"controller":[115],"control":[118],"barrier":[119],"functions":[120],"ensures":[122],"safety":[123],"encourages":[125],"timely":[126],"arrival":[127],"at":[128],"sensing":[129,150],"locations.":[130],"Via":[131],"extensive":[132],"simulations,":[133],"hardware-in-the-loop":[134],"tests,":[135],"hardware":[137],"experiments,":[138],"we":[139],"demonstrate":[140],"proposed":[143],"achieves":[145],"better":[147],"between":[149],"cost":[153],"than":[154],"coordinate-descent-based":[155],"algorithms.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
