{"id":"https://openalex.org/W7160899549","doi":"https://doi.org/10.48550/arxiv.2605.09158","title":"Fault-Aware MPC for Robotic Fleet Communications Scheduling","display_name":"Fault-Aware MPC for Robotic Fleet Communications Scheduling","publication_year":2026,"publication_date":"2026-05-09","ids":{"openalex":"https://openalex.org/W7160899549","doi":"https://doi.org/10.48550/arxiv.2605.09158"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.09158","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09158","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":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.2605.09158","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135995524","display_name":"Carlo Schreiber","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schreiber, Carlo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077282337","display_name":"Duncan Eddy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Eddy, Duncan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5122935159","display_name":"Mykel J. Kochenderfer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kochenderfer, Mykel J.","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/T11701","display_name":"Space Satellite Systems and Control","score":0.2484000027179718,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.2484000027179718,"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"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.13830000162124634,"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"}},{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.10620000213384628,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/scheduling","display_name":"Scheduling (production processes)","score":0.6996999979019165},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6380000114440918},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48579999804496765},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4138999879360199},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.38580000400543213},{"id":"https://openalex.org/keywords/communications-satellite","display_name":"Communications satellite","score":0.3391999900341034},{"id":"https://openalex.org/keywords/telemetry","display_name":"Telemetry","score":0.3368000090122223},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.32030001282691956}],"concepts":[{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6996999979019165},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6380000114440918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5752000212669373},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48579999804496765},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4722000062465668},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37619999051094055},{"id":"https://openalex.org/C121308736","wikidata":"https://www.wikidata.org/wiki/Q149918","display_name":"Communications satellite","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C183121708","wikidata":"https://www.wikidata.org/wiki/Q209867","display_name":"Telemetry","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.32010000944137573},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27790001034736633},{"id":"https://openalex.org/C192126672","wikidata":"https://www.wikidata.org/wiki/Q1068715","display_name":"Telecommunications network","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.2574999928474426},{"id":"https://openalex.org/C197640229","wikidata":"https://www.wikidata.org/wiki/Q2534066","display_name":"Predictability","level":2,"score":0.2554999887943268},{"id":"https://openalex.org/C2778697102","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Remote operation","level":2,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.09158","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09158","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.09158","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09158","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":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":{"Operating":[0],"a":[1,52,57,69,72,110,115,127,178],"fleet":[2,17],"of":[3,167,196],"remote":[4],"robotic":[5],"systems":[6],"with":[7,122,133],"intermittent":[8],"communications":[9,59,162],"requires":[10],"scheduling":[11,33],"limited":[12],"contact":[13],"opportunities":[14],"to":[15,44,82,156],"maintain":[16],"health":[18],"awareness,":[19],"complete":[20],"mission":[21],"objectives,":[22],"and":[23,56,79,125,149,159,175,199],"intervene":[24],"on":[25],"faulted":[26],"assets":[27],"before":[28],"their":[29],"permanent":[30],"loss.":[31],"This":[32],"problem":[34],"is":[35,152],"complicated":[36],"by":[37],"observational":[38],"ambiguity:":[39],"when":[40,138,150],"an":[41],"asset":[42],"fails":[43],"check":[45],"in,":[46],"the":[47,62],"operator":[48],"cannot":[49],"distinguish":[50,91],"between":[51,92],"lethal":[53],"hardware":[54],"fault":[55,70,120,141],"benign":[58],"failure.":[60],"If":[61],"system's":[63],"failure":[64],"modes":[65,93,121,142],"are":[66],"structured":[67],"through":[68,146,183],"model,":[71],"scheduler":[73],"can":[74,90,143],"exploit":[75],"mode-specific":[76],"lethality,":[77],"timing,":[78],"recoverability":[80],"properties":[81],"prioritize":[83],"correctly":[84],"-":[85],"but":[86],"only":[87],"if":[88],"it":[89],"that":[94,113],"produce":[95],"identical":[96,194],"observations":[97],"under":[98],"standard":[99],"actions.":[100],"We":[101,136],"present":[102],"Interacting":[103],"Multiple":[104],"Model":[105,106],"Predictive":[107],"Control":[108],"(IMM-MPC),":[109],"receding-horizon":[111],"framework":[112],"maintains":[114],"probabilistic":[116],"belief":[117],"over":[118],"discrete":[119],"time-inhomogeneous":[123],"dynamics":[124],"optimizes":[126],"two-term":[128],"objective":[129],"coupling":[130],"acquisition":[131,195],"value":[132],"information":[134],"gain.":[135],"characterize":[137],"observationally":[139],"aliased":[140],"be":[144],"disambiguated":[145],"scheduled":[147],"actions":[148],"aliasing":[151],"permanently":[153],"unresolvable.":[154],"Applied":[155],"satellite":[157],"launch":[158],"early":[160],"orbit":[161],"scheduling,":[163],"IMM-MPC":[164],"recovers":[165],"59.8%":[166],"spacecraft":[168],"experiencing":[169],"lethal-faults":[170],"versus":[171],"9.0%":[172],"for":[173,177],"binary-MPC":[174],"2.0%":[176],"bipartite":[179],"graph-based":[180],"formulation":[181],"solved":[182],"matching.":[184],"These":[185],"results":[186],"hold":[187],"across":[188],"200":[189],"randomized":[190],"trials,":[191],"while":[192],"maintaining":[193],"healthy":[197],"satellites":[198],"near-identical":[200],"solve":[201],"times.":[202]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-13T00:00:00"}