{"id":"https://openalex.org/W7138163779","doi":"https://doi.org/10.48550/arxiv.2603.14697","title":"Forecast-Aware Cooperative Planning on Temporal Graphs under Stochastic Adversarial Risk","display_name":"Forecast-Aware Cooperative Planning on Temporal Graphs under Stochastic Adversarial Risk","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7138163779","doi":"https://doi.org/10.48550/arxiv.2603.14697"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14697","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004851437","display_name":"Manshi Limbu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Limbu, Manshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129718928","display_name":"Xuan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129712236","display_name":"Gregory J. Stein","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stein, Gregory J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057044271","display_name":"Daigo Shishika","orcid":"https://orcid.org/0000-0002-8514-9634"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shishika, Daigo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Xuesu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.13580000400543213,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.13580000400543213,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.12039999663829803,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.11460000276565552,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8105000257492065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5740000009536743},{"id":"https://openalex.org/keywords/adversary","display_name":"Adversary","score":0.5683000087738037},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.5195000171661377},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.48669999837875366},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48010000586509705},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.477400004863739},{"id":"https://openalex.org/keywords/oracle","display_name":"Oracle","score":0.4666000008583069},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.4553999900817871}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8105000257492065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6764000058174133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5740000009536743},{"id":"https://openalex.org/C41065033","wikidata":"https://www.wikidata.org/wiki/Q2825412","display_name":"Adversary","level":2,"score":0.5683000087738037},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5195000171661377},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.48669999837875366},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48010000586509705},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.477400004863739},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.4666000008583069},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.4553999900817871},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4388999938964844},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4120999872684479},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4034000039100647},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.40119999647140503},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37400001287460327},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.35089999437332153},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C7606001","wikidata":"https://www.wikidata.org/wiki/Q4686702","display_name":"Adversary model","level":3,"score":0.33090001344680786},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C2780945871","wikidata":"https://www.wikidata.org/wiki/Q194274","display_name":"Backup","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.25780001282691956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25519999861717224},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Cooperative":[0],"multi-robot":[1],"missions":[2],"often":[3],"require":[4],"teams":[5],"of":[6,121,158],"robots":[7,28],"to":[8,16,46,60,110,124,152],"traverse":[9],"environments":[10],"where":[11],"traversal":[12],"risk":[13,55,67,79],"evolves":[14],"due":[15],"adversary":[17,90],"patrols":[18],"or":[19],"shifting":[20],"hazards":[21],"with":[22,81],"stochastic":[23,78],"dynamics.":[24],"While":[25],"support":[26,83,122,130],"coordination--where":[27],"assist":[29],"teammates":[30],"in":[31,66,108],"traversing":[32],"risky":[33,126],"regions--can":[34],"significantly":[35],"reduce":[36],"mission":[37],"costs,":[38],"its":[39],"effectiveness":[40],"depends":[41],"on":[42,85],"the":[43,103,118,156],"team's":[44],"ability":[45],"anticipate":[47],"future":[48],"risk.":[49],"Existing":[50],"support-based":[51],"frameworks":[52],"assume":[53],"static":[54],"landscapes":[56],"and":[57],"therefore":[58],"fail":[59],"account":[61],"for":[62,128],"predictable":[63],"temporal":[64,86],"trends":[65],"evolution.":[68],"We":[69],"propose":[70],"a":[71,93],"forecast-aware":[72],"cooperative":[73],"planning":[74],"framework":[75],"that":[76,142],"integrates":[77],"forecasting":[80],"anticipatory":[82],"allocation":[84,120],"graphs.":[87],"By":[88],"modeling":[89],"dynamics":[91],"as":[92],"first-order":[94],"Markov":[95],"stay-move":[96],"process":[97],"over":[98],"graph":[99],"edges,":[100],"we":[101],"propagate":[102],"resulting":[104],"edge-occupancy":[105],"probabilities":[106],"forward":[107],"time":[109],"generate":[111],"time-indexed":[112],"edge-risk":[113],"forecasts.":[114],"These":[115],"forecasts":[116],"guide":[117],"proactive":[119],"positions":[123],"forecasted":[125],"edges":[127],"effective":[129],"coordination,":[131],"while":[132],"also":[133],"informing":[134],"joint":[135],"robot":[136],"path":[137],"planning.":[138],"Experimental":[139],"results":[140],"demonstrate":[141],"our":[143],"approach":[144],"consistently":[145],"reduces":[146],"total":[147],"expected":[148],"team":[149],"cost":[150],"compared":[151],"non-anticipatory":[153],"baselines,":[154],"approaching":[155],"performance":[157],"an":[159],"oracle":[160],"planner.":[161]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-18T00:00:00"}