{"id":"https://openalex.org/W4403332102","doi":"https://doi.org/10.23919/fusion59988.2024.10706489","title":"A Monte Carlo Tree Search Framework for Autonomous Source Term Estimation in Stone Soup","display_name":"A Monte Carlo Tree Search Framework for Autonomous Source Term Estimation in Stone Soup","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403332102","doi":"https://doi.org/10.23919/fusion59988.2024.10706489"},"language":"en","primary_location":{"id":"doi:10.23919/fusion59988.2024.10706489","is_oa":false,"landing_page_url":"https://doi.org/10.23919/fusion59988.2024.10706489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 27th International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/A_Monte_Carlo_tree_search_framework_for_autonomous_source_term_estimation_in_stone_soup/26076508","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053500979","display_name":"Timothy J Glover","orcid":null},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Timothy J Glover","raw_affiliation_strings":["Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035292994","display_name":"Rohit V. Nanavati","orcid":"https://orcid.org/0000-0003-1240-2085"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rohit V. Nanavati","raw_affiliation_strings":["Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013053105","display_name":"Matthew Coombes","orcid":"https://orcid.org/0000-0002-4421-9464"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matthew Coombes","raw_affiliation_strings":["Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021774274","display_name":"Cunjia Liu","orcid":"https://orcid.org/0000-0003-2829-9369"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Cunjia Liu","raw_affiliation_strings":["Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428822","display_name":"Wen\u2010Hua Chen","orcid":"https://orcid.org/0000-0003-3356-2889"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wen-Hua Chen","raw_affiliation_strings":["Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Department of Aeronautical and Automotive Engineering,UK,LE11 3TU","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046307080","display_name":"Nicola Perree","orcid":null},"institutions":[{"id":"https://openalex.org/I1339065421","display_name":"Defence Science and Technology Laboratory","ror":"https://ror.org/04jswqb94","country_code":"GB","type":"government","lineage":["https://openalex.org/I1306956679","https://openalex.org/I1339065421","https://openalex.org/I2802373619"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nicola Perree","raw_affiliation_strings":["Cyber and Information Systems, Defence Science and Technology Laboratory,Salisbury,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cyber and Information Systems, Defence Science and Technology Laboratory,Salisbury,UK","institution_ids":["https://openalex.org/I1339065421"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085932841","display_name":"Steven Hiscocks","orcid":null},"institutions":[{"id":"https://openalex.org/I1339065421","display_name":"Defence Science and Technology Laboratory","ror":"https://ror.org/04jswqb94","country_code":"GB","type":"government","lineage":["https://openalex.org/I1306956679","https://openalex.org/I1339065421","https://openalex.org/I2802373619"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steven Hiscocks","raw_affiliation_strings":["Cyber and Information Systems, Defence Science and Technology Laboratory,Salisbury,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cyber and Information Systems, Defence Science and Technology Laboratory,Salisbury,UK","institution_ids":["https://openalex.org/I1339065421"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51539511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9934999942779541,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9934999942779541,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9628000259399414,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9466999769210815,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.7391402125358582},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.7092799544334412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6883078217506409},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.5916361212730408},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5277912020683289},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.45470553636550903},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.24823221564292908},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1745583713054657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10281479358673096}],"concepts":[{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.7391402125358582},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.7092799544334412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6883078217506409},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.5916361212730408},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5277912020683289},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.45470553636550903},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.24823221564292908},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1745583713054657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10281479358673096},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/fusion59988.2024.10706489","is_oa":false,"landing_page_url":"https://doi.org/10.23919/fusion59988.2024.10706489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 27th International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/26076508","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/A_Monte_Carlo_tree_search_framework_for_autonomous_source_term_estimation_in_stone_soup/26076508","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/26076508","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/A_Monte_Carlo_tree_search_framework_for_autonomous_source_term_estimation_in_stone_soup/26076508","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","score":0.6100000143051147,"display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323623","display_name":"Ministry of Defence","ror":"https://ror.org/03wejsv15"},{"id":"https://openalex.org/F4320332972","display_name":"Defence Science and Technology Laboratory","ror":"https://ror.org/04jswqb94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W24595370","https://openalex.org/W48912270","https://openalex.org/W1513008779","https://openalex.org/W1607198972","https://openalex.org/W1875936611","https://openalex.org/W1973043875","https://openalex.org/W2019738489","https://openalex.org/W2041615844","https://openalex.org/W2046695302","https://openalex.org/W2049047455","https://openalex.org/W2056760934","https://openalex.org/W2067428324","https://openalex.org/W2093912891","https://openalex.org/W2096609904","https://openalex.org/W2103213286","https://openalex.org/W2105484965","https://openalex.org/W2111787305","https://openalex.org/W2126316555","https://openalex.org/W2130416410","https://openalex.org/W2134702012","https://openalex.org/W2163313249","https://openalex.org/W2168405694","https://openalex.org/W2181587965","https://openalex.org/W2312496554","https://openalex.org/W2550505910","https://openalex.org/W2553399731","https://openalex.org/W2611867811","https://openalex.org/W2623050329","https://openalex.org/W2767368842","https://openalex.org/W2795496197","https://openalex.org/W2887271066","https://openalex.org/W2900742918","https://openalex.org/W3108549307","https://openalex.org/W3113605944","https://openalex.org/W3125026208","https://openalex.org/W3198246501","https://openalex.org/W4200101833","https://openalex.org/W4386158892","https://openalex.org/W6630948046","https://openalex.org/W6631095899","https://openalex.org/W6676780147","https://openalex.org/W6685794648","https://openalex.org/W6698467578","https://openalex.org/W7026488684"],"related_works":["https://openalex.org/W2571592646","https://openalex.org/W4247855592","https://openalex.org/W2567165815","https://openalex.org/W2740304877","https://openalex.org/W2978000411","https://openalex.org/W4226164546","https://openalex.org/W2766259847","https://openalex.org/W2112583639","https://openalex.org/W346633817","https://openalex.org/W2563266764"],"abstract_inverted_index":{"Source":[0],"term":[1,79],"estimation":[2,18,59,80,119,149],"of":[3,10,58,62],"a":[4,8,71,87,92,141],"hazardous":[5],"release":[6,151],"remains":[7],"topic":[9],"significant":[11,63],"interest":[12],"in":[13,53,113],"the":[14,114],"robotics":[15],"and":[16,43,91,118,154],"state":[17],"communities,":[19],"with":[20],"application":[21],"to":[22,37,51,55,99,104,127,140],"many":[23],"safety":[24],"critical":[25],"scenarios":[26],"including":[27],"gas":[28,82],"or":[29,35],"nuclear":[30],"release,":[31],"locating":[32],"suspicious":[33],"smells":[34],"response":[36],"emergency":[38],"incidents.":[39],"Limited":[40],"sensing":[41],"resources":[42],"time":[44],"constraints":[45],"mean":[46],"that":[47],"deciding":[48],"on":[49,86],"how":[50],"act":[52],"order":[54],"improve":[56],"efficiency":[57],"is":[60],"also":[61],"interest.":[64],"This":[65],"paper":[66],"has":[67],"two":[68],"main":[69],"focuses:":[70],"sequential":[72],"Monte":[73,93],"Carlo":[74,94],"technique":[75],"for":[76],"performing":[77],"source":[78,116,147],"from":[81],"concentration":[83],"measurements":[84],"taken":[85],"mobile":[88],"sensor":[89,101],"platform":[90],"tree":[95],"search":[96],"(MCTS)":[97],"framework":[98],"perform":[100],"motion":[102],"planning":[103],"maximise":[105],"Kullback-Leibler":[106],"divergence":[107],"(KLD).":[108],"Both":[109],"algorithms":[110],"are":[111],"implemented":[112],"open":[115],"tracking":[117],"framework:":[120],"Stone":[121],"Soup,":[122],"creating":[123],"several":[124],"key":[125],"contributions":[126],"this":[128],"Python":[129],"based":[130],"toolkit.":[131],"The":[132],"presented":[133],"algorithm":[134],"demonstrates":[135],"superior":[136],"performance":[137,157],"when":[138,145],"compared":[139],"greedy":[142],"myopic":[143],"alternative":[144],"considering":[146],"position":[148],"error,":[150],"rate":[152,156],"error":[153],"successful":[155],"measures.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
