{"id":"https://openalex.org/W3206478227","doi":"https://doi.org/10.55417/fr.2022035","title":"Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration","display_name":"Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration","publication_year":2022,"publication_date":"2022-06-01","ids":{"openalex":"https://openalex.org/W3206478227","doi":"https://doi.org/10.55417/fr.2022035","mag":"3206478227"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022035","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022035","pdf_url":"https://doi.org/10.55417/fr.2022035","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022035","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064553404","display_name":"Michael T. Ohradzansky","orcid":"https://orcid.org/0000-0002-6403-9137"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael T. Ohradzansky","raw_affiliation_strings":["Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-6403-9137","affiliations":[{"raw_affiliation_string":"Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069932163","display_name":"Eugene R. Rush","orcid":"https://orcid.org/0000-0001-9451-224X"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eugene R. Rush","raw_affiliation_strings":["Mechanical Engineering, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0001-9451-224X","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080152341","display_name":"Danny G. Riley","orcid":"https://orcid.org/0000-0003-2518-3088"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danny G. Riley","raw_affiliation_strings":["Computer Science, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-2518-3088","affiliations":[{"raw_affiliation_string":"Computer Science, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028528701","display_name":"Andrew B. Mills","orcid":"https://orcid.org/0000-0003-4634-0484"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew B. Mills","raw_affiliation_strings":["Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-4634-0484","affiliations":[{"raw_affiliation_string":"Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006711436","display_name":"Shakeeb Ahmad","orcid":"https://orcid.org/0000-0002-6251-2146"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shakeeb Ahmad","raw_affiliation_strings":["Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-6251-2146","affiliations":[{"raw_affiliation_string":"Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072438726","display_name":"Steve McGuire","orcid":"https://orcid.org/0000-0003-4650-7950"},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve McGuire","raw_affiliation_strings":["Electrical & Computer Engineering, University of California Santa Cruz, CA, USA","Electrical & Computer Engineering, University of California Santa Cruz, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4650-7950","affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering, University of California Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"Electrical & Computer Engineering, University of California Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031951235","display_name":"Harel Biggie","orcid":"https://orcid.org/0000-0002-6281-1218"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harel Biggie","raw_affiliation_strings":["Computer Science, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-6281-1218","affiliations":[{"raw_affiliation_string":"Computer Science, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009373860","display_name":"Kyle Harlow","orcid":"https://orcid.org/0000-0002-9092-3655"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Harlow","raw_affiliation_strings":["Computer Science, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-9092-3655","affiliations":[{"raw_affiliation_string":"Computer Science, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035399365","display_name":"Michael J. Miles","orcid":"https://orcid.org/0000-0003-2894-2449"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael J. Miles","raw_affiliation_strings":["Mechanical Engineering, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-2894-2449","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021878663","display_name":"Eric W. Frew","orcid":"https://orcid.org/0000-0003-3686-089X"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric W. Frew","raw_affiliation_strings":["Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0003-3686-089X","affiliations":[{"raw_affiliation_string":"Aerospace Engineering Sciences, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009328815","display_name":"Christoffer Heckman","orcid":"https://orcid.org/0000-0002-9651-6866"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christoffer Heckman","raw_affiliation_strings":["Computer Science, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-9651-6866","affiliations":[{"raw_affiliation_string":"Computer Science, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056253739","display_name":"J. Sean Humbert","orcid":"https://orcid.org/0000-0002-0863-875X"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Sean Humbert","raw_affiliation_strings":["Mechanical Engineering, University of Colorado Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-0863-875X","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Colorado Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5064553404"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":28.6853,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.99492856,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"1068","last_page":"1104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13382","display_name":"Robotics and Automated Systems","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/planner","display_name":"Planner","score":0.6864533424377441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6601347327232361},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.4862143099308014},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4367710053920746},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4028756618499756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3970944881439209},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.3362691402435303}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6864533424377441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6601347327232361},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.4862143099308014},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4367710053920746},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4028756618499756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3970944881439209},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.3362691402435303}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2022035","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022035","pdf_url":"https://doi.org/10.55417/fr.2022035","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.55417/fr.2022035","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022035","pdf_url":"https://doi.org/10.55417/fr.2022035","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1915859349","display_name":null,"funder_award_id":"1764092","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3885598841","display_name":null,"funder_award_id":"HR0011-18-2-0043","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G7369137898","display_name":null,"funder_award_id":"1830686","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310862","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3206478227.pdf","grobid_xml":"https://content.openalex.org/works/W3206478227.grobid-xml"},"referenced_works_count":120,"referenced_works":["https://openalex.org/W58978348","https://openalex.org/W1238092070","https://openalex.org/W1483307070","https://openalex.org/W1483870316","https://openalex.org/W1505831061","https://openalex.org/W1536680647","https://openalex.org/W1539216098","https://openalex.org/W1573725801","https://openalex.org/W1591195137","https://openalex.org/W1599038780","https://openalex.org/W1832534480","https://openalex.org/W1971492416","https://openalex.org/W1975762674","https://openalex.org/W1993267444","https://openalex.org/W1993391455","https://openalex.org/W2003076247","https://openalex.org/W2034725503","https://openalex.org/W2039367092","https://openalex.org/W2044435848","https://openalex.org/W2051735871","https://openalex.org/W2071219172","https://openalex.org/W2081716160","https://openalex.org/W2084789927","https://openalex.org/W2089154204","https://openalex.org/W2091790851","https://openalex.org/W2111972027","https://openalex.org/W2113257089","https://openalex.org/W2114691387","https://openalex.org/W2115292811","https://openalex.org/W2119605622","https://openalex.org/W2126736494","https://openalex.org/W2127350351","https://openalex.org/W2127786001","https://openalex.org/W2133844819","https://openalex.org/W2135524320","https://openalex.org/W2149619235","https://openalex.org/W2169053332","https://openalex.org/W2169810949","https://openalex.org/W2170229019","https://openalex.org/W2187955930","https://openalex.org/W2211722331","https://openalex.org/W2277848489","https://openalex.org/W2409009991","https://openalex.org/W2410369356","https://openalex.org/W2411093439","https://openalex.org/W2560609797","https://openalex.org/W2565233142","https://openalex.org/W2600197161","https://openalex.org/W2745859992","https://openalex.org/W2751330670","https://openalex.org/W2769571673","https://openalex.org/W2775767803","https://openalex.org/W2778243760","https://openalex.org/W2788560856","https://openalex.org/W2789667615","https://openalex.org/W2794337790","https://openalex.org/W2796347433","https://openalex.org/W2891260549","https://openalex.org/W2891491652","https://openalex.org/W2892301270","https://openalex.org/W2895994164","https://openalex.org/W2903870443","https://openalex.org/W2908920619","https://openalex.org/W2949708697","https://openalex.org/W2950642167","https://openalex.org/W2962722232","https://openalex.org/W2962794880","https://openalex.org/W2962816904","https://openalex.org/W2963037989","https://openalex.org/W2963249250","https://openalex.org/W2963727135","https://openalex.org/W2973864946","https://openalex.org/W2973985259","https://openalex.org/W2982402514","https://openalex.org/W2996320132","https://openalex.org/W3002818939","https://openalex.org/W3004359000","https://openalex.org/W3004418007","https://openalex.org/W3004423979","https://openalex.org/W3006449166","https://openalex.org/W3013410780","https://openalex.org/W3080178290","https://openalex.org/W3080622745","https://openalex.org/W3081339652","https://openalex.org/W3090360675","https://openalex.org/W3091596629","https://openalex.org/W3092218351","https://openalex.org/W3093184896","https://openalex.org/W3094453564","https://openalex.org/W3097090618","https://openalex.org/W3099138983","https://openalex.org/W3102129812","https://openalex.org/W3103534693","https://openalex.org/W3129245057","https://openalex.org/W3131341185","https://openalex.org/W3163925244","https://openalex.org/W3184026219","https://openalex.org/W3190043085","https://openalex.org/W3201592850","https://openalex.org/W3206478227","https://openalex.org/W4205312584","https://openalex.org/W4213308829","https://openalex.org/W4285719527","https://openalex.org/W4287686575","https://openalex.org/W4293584584","https://openalex.org/W4388085068","https://openalex.org/W6631782140","https://openalex.org/W6648658597","https://openalex.org/W6651118506","https://openalex.org/W6665481592","https://openalex.org/W6671727001","https://openalex.org/W6677290143","https://openalex.org/W6677353027","https://openalex.org/W6677885332","https://openalex.org/W6682162143","https://openalex.org/W6694954142","https://openalex.org/W6714262829","https://openalex.org/W6730967937","https://openalex.org/W6744691312","https://openalex.org/W6757953989"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2054097079","https://openalex.org/W2285865904","https://openalex.org/W2049110658"],"abstract_inverted_index":{"Artificial":[0],"intelligence":[1],"has":[2],"undergone":[3],"immense":[4],"growth":[5],"and":[6,21,43,49,67,69,107,118,123,143,161,164,175,190],"maturation":[7],"in":[8,19,47,84,99,134,194],"recent":[9],"years,":[10],"though":[11],"autonomous":[12,78],"systems":[13],"have":[14],"traditionally":[15],"struggled":[16],"when":[17],"fielded":[18],"diverse":[20,65],"previously":[22],"unknown":[23,81],"environments.":[24],"DARPA":[25],"is":[26,197],"seeking":[27],"to":[28,40,159,199],"change":[29],"that":[30,188],"with":[31],"the":[32,38,100,135,138,152,172],"Subterranean":[33],"Challenge,":[34],"by":[35],"providing":[36],"roboticists":[37],"opportunity":[39],"support":[41],"civilian":[42],"military":[44],"first":[45],"responders":[46],"complex":[48],"high-risk":[50],"underground":[51],"scenarios.":[52],"The":[53,93],"subterranean":[54,82],"domain":[55],"presents":[56,95],"a":[57,75,103,108,180],"handful":[58],"of":[59,80,91,102,177,182],"challenges,":[60],"such":[61],"as":[62],"limited":[63],"communication,":[64],"topology":[66],"terrain,":[68],"degraded":[70],"sensing.":[71],"Team":[72],"MARBLE":[73],"proposes":[74],"solution":[76],"for":[77,89],"exploration":[79],"environments":[83,196],"which":[85,141],"coordinated":[86],"agents":[87,116,158],"search":[88],"artifacts":[90,163],"interest.":[92],"team":[94],"two":[96],"navigation":[97],"algorithms":[98],"form":[101],"metric-topological":[104],"graph-based":[105],"planner":[106],"continuous":[109],"frontier-based":[110],"planner.":[111],"To":[112],"facilitate":[113],"multi-agent":[114],"coordination,":[115],"share":[117],"merge":[119],"new":[120],"map":[121],"information":[122,145],"candidate":[124],"goal":[125],"points.":[126],"Agents":[127],"deploy":[128],"communication":[129,169],"beacons":[130],"at":[131,140],"different":[132],"points":[133],"environment,":[136],"extending":[137],"range":[139,181],"maps":[142],"other":[144],"can":[146],"be":[147],"shared.":[148],"Onboard":[149],"autonomy":[150],"reduces":[151],"load":[153],"on":[154],"human":[155],"supervisors,":[156],"allowing":[157],"detect":[160],"localize":[162],"explore":[165],"autonomously":[166],"outside":[167],"established":[168],"networks.":[170],"Given":[171],"scale,":[173],"complexity,":[174],"tempo":[176],"this":[178],"challenge,":[179],"lessons":[183],"was":[184],"learned,":[185],"most":[186],"importantly,":[187],"frequent":[189],"comprehensive":[191],"field":[192],"testing":[193],"representative":[195],"key":[198],"rapidly":[200],"refining":[201],"system":[202],"performance.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}