{"id":"https://openalex.org/W4323042384","doi":"https://doi.org/10.1145/3585316","title":"AcTrak: Controlling a Steerable Surveillance Camera using Reinforcement Learning","display_name":"AcTrak: Controlling a Steerable Surveillance Camera using Reinforcement Learning","publication_year":2023,"publication_date":"2023-03-03","ids":{"openalex":"https://openalex.org/W4323042384","doi":"https://doi.org/10.1145/3585316"},"language":"en","primary_location":{"id":"doi:10.1145/3585316","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3585316","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3585316","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3585316","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036534106","display_name":"Abdulrahman Fahim","orcid":"https://orcid.org/0000-0002-0801-8737"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Abdulrahman Fahim","raw_affiliation_strings":["University of California, Riverside, California, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, California, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054849323","display_name":"Evangelos E. Papalexakis","orcid":"https://orcid.org/0000-0002-3411-8483"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos Papalexakis","raw_affiliation_strings":["University of California, Riverside, California, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, California, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086268637","display_name":"Srikanth V. Krishnamurthy","orcid":"https://orcid.org/0000-0002-6533-4381"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikanth V. Krishnamurthy","raw_affiliation_strings":["University of California, Riverside, California, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, California, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004732580","display_name":"Amit K. Roy\u2013Chowdhury","orcid":"https://orcid.org/0000-0001-6690-9725"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit K. Roy Chowdhury","raw_affiliation_strings":["University of California, Riverside, California, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Riverside, California, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022713560","display_name":"Lance Kaplan","orcid":"https://orcid.org/0000-0002-3627-4471"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lance Kaplan","raw_affiliation_strings":["DEVCOM Army Research Laboratory, USA"],"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087114395","display_name":"Tarek Abdelzaher","orcid":"https://orcid.org/0000-0003-3883-7220"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tarek Abdelzaher","raw_affiliation_strings":["University of Illinois at Urbana Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5036534106"],"corresponding_institution_ids":["https://openalex.org/I103635307"],"apc_list":null,"apc_paid":null,"fwci":0.7164,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71035185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"7","issue":"2","first_page":"1","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987000226974487,"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":0.996399998664856,"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/zoom","display_name":"Zoom","score":0.8198440074920654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8141629099845886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7471761107444763},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7226369380950928},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.7185247540473938},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6390825510025024},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5713095664978027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0852515697479248}],"concepts":[{"id":"https://openalex.org/C124913957","wikidata":"https://www.wikidata.org/wiki/Q1232548","display_name":"Zoom","level":3,"score":0.8198440074920654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8141629099845886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7471761107444763},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7226369380950928},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.7185247540473938},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6390825510025024},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5713095664978027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0852515697479248},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3585316","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3585316","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3585316","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3585316","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3585316","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3585316","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G1034401897","display_name":null,"funder_award_id":"W911NF-17-2-0196","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1198325749","display_name":null,"funder_award_id":"W911NF-17-2-0196.","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G1637379582","display_name":null,"funder_award_id":"W911NF-17-2-0196","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G1824974782","display_name":null,"funder_award_id":"1544969","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2924559374","display_name":null,"funder_award_id":"N00014-19-1-2264","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3554877687","display_name":null,"funder_award_id":"N00014-19-1-2264","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G3633890006","display_name":null,"funder_award_id":"W911NF-09-2-0053 and W911NF-17-2-0196","funder_id":"https://openalex.org/F4320338456","funder_display_name":"DEVCOM Army Research Laboratory"},{"id":"https://openalex.org/G4380758171","display_name":null,"funder_award_id":"2038817","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4759515801","display_name":null,"funder_award_id":"W911NF-17-2-0196","funder_id":"https://openalex.org/F4320338456","funder_display_name":"DEVCOM Army Research Laboratory"},{"id":"https://openalex.org/G5259331294","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G7561134949","display_name":null,"funder_award_id":"W911NF-09-2-0053","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G948678646","display_name":null,"funder_award_id":"W911NF-09-2-0053","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320337807","display_name":"U.S. Army Combat Capabilities Development Command","ror":null},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"},{"id":"https://openalex.org/F4320338456","display_name":"DEVCOM Army Research Laboratory","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323042384.pdf","grobid_xml":"https://content.openalex.org/works/W4323042384.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1972874706","https://openalex.org/W1978203369","https://openalex.org/W2008300533","https://openalex.org/W2020329673","https://openalex.org/W2062044001","https://openalex.org/W2065784474","https://openalex.org/W2109910161","https://openalex.org/W2150292886","https://openalex.org/W2161503697","https://openalex.org/W2163217660","https://openalex.org/W2167667767","https://openalex.org/W2171943232","https://openalex.org/W2173564293","https://openalex.org/W2321785408","https://openalex.org/W2505412563","https://openalex.org/W2607044885","https://openalex.org/W2612445135","https://openalex.org/W2614456134","https://openalex.org/W2624731731","https://openalex.org/W2761873684","https://openalex.org/W2798554470","https://openalex.org/W2886305906","https://openalex.org/W2912836860","https://openalex.org/W2950892788","https://openalex.org/W2951799221","https://openalex.org/W2962816904","https://openalex.org/W3067846174","https://openalex.org/W3086786993","https://openalex.org/W3154639481","https://openalex.org/W3166413890","https://openalex.org/W4214717370","https://openalex.org/W4235375376","https://openalex.org/W4293584584","https://openalex.org/W4297775537","https://openalex.org/W4394662461","https://openalex.org/W6750227808","https://openalex.org/W6759084196","https://openalex.org/W6863618527"],"related_works":["https://openalex.org/W2788595494","https://openalex.org/W2383111961","https://openalex.org/W2365952365","https://openalex.org/W2244676099","https://openalex.org/W3172556642","https://openalex.org/W3157456843","https://openalex.org/W2352448290","https://openalex.org/W1990150827","https://openalex.org/W2321069309","https://openalex.org/W2158788032"],"abstract_inverted_index":{"Steerable":[0],"cameras":[1,114],"that":[2,81,171,210],"can":[3,191],"be":[4],"controlled":[5],"via":[6],"a":[7,22,29,43,69,180,205],"network,":[8],"to":[9,27,32,45,53,59,67,79,103,115,120,154,194,203],"retrieve":[10],"telemetries":[11],"of":[12,62,123,196,224],"interest":[13],"have":[14,127],"become":[15],"popular.":[16],"In":[17],"this":[18,129],"paper,":[19],"we":[20,65,77,169],"develop":[21],"framework":[23],"called":[24],"AcTrak":[25,142,172,202],",":[26],"automate":[28],"camera\u2019s":[30,146],"motion":[31],"appropriately":[33],"switch":[34],"between":[35,72],"(a)":[36],"zoom":[37,51],"ins":[38],"on":[39,98],"existing":[40,99],"targets":[41,57,83,100,176],"in":[42,97,211],"scene":[44],"track":[46],"their":[47,105],"activities,":[48],"and":[49,131,183,208],"(b)":[50],"out":[52],"search":[54],"for":[55,112],"new":[56,82],"arriving":[58,175],"the":[60,73,87,92,121,145,156,161,188,197,214],"area":[61],"interest.":[63],"Specifically,":[64],"seek":[66],"achieve":[68],"good":[70],"trade-off":[71],"two":[74],"tasks,":[75],"i.e.,":[76],"want":[78],"ensure":[80],"are":[84],"observed":[85],"by":[86],"camera":[88,158,207],"before":[89],"they":[90],"leave":[91],"scene,":[93],"while":[94],"also":[95,200],"zooming":[96],"frequently":[101],"enough":[102],"monitor":[104],"activities.":[106],"There":[107],"exist":[108],"prior":[109],"control":[110,204],"algorithms":[111],"steering":[113],"optimize":[116],"certain":[117],"objectives;":[118],"however,":[119],"best":[122,157],"our":[124],"knowledge,":[125],"none":[126],"considered":[128],"problem,":[130],"do":[132],"not":[133],"perform":[134],"well":[135],"when":[136],"target":[137],"activity":[138],"tracking":[139],"is":[140],"required.":[141],"automatically":[143],"controls":[144],"PTZ":[147],"configurations":[148],"using":[149,166],"reinforcement":[150],"learning":[151],"(RL":[152],"),":[153],"select":[155],"position":[159],"given":[160],"current":[162],"state.":[163],"Via":[164],"simulations":[165],"real":[167,206],"datasets,":[168],"show":[170],"detects":[173],"newly":[174],"30%":[177],"faster":[178],"than":[179],"non-adaptive":[181],"baseline":[182,189],"rarely":[184],"misses":[185],"targets,":[186],"unlike":[187],"which":[190],"miss":[192],"up":[193],"5%":[195],"targets.":[198,225],"We":[199],"implement":[201],"demonstrate":[209],"comparison":[212],"with":[213],"baseline,":[215],"it":[216],"acquires":[217],"about":[218],"2\u00d7":[219],"more":[220],"high":[221],"resolution":[222],"images":[223]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}