{"id":"https://openalex.org/W4379746324","doi":"https://doi.org/10.1145/3555776.3577749","title":"Multi-Robot Expansive Planning and Trajectory Evaluation for Tracking and Localization of Marine Life","display_name":"Multi-Robot Expansive Planning and Trajectory Evaluation for Tracking and Localization of Marine Life","publication_year":2023,"publication_date":"2023-03-27","ids":{"openalex":"https://openalex.org/W4379746324","doi":"https://doi.org/10.1145/3555776.3577749"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1145/3555776.3577749","pdf_url":null,"source":{"id":"https://openalex.org/S4363608665","display_name":"Proceedings of the 37th ACM/SIGAPP Symposium on Applied Computing","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092110155","display_name":"Kehlani Fay","orcid":"https://orcid.org/0000-0003-0319-5782"},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"funder","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kehlani Fay","raw_affiliation_strings":["Harvey Mudd College, Claremont, United States"],"affiliations":[{"raw_affiliation_string":"Harvey Mudd College, Claremont, United States","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180432","display_name":"Michael Giordano","orcid":"https://orcid.org/0000-0002-7464-1260"},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"funder","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Giordano","raw_affiliation_strings":["Harvey Mudd College, Claremont, United States"],"affiliations":[{"raw_affiliation_string":"Harvey Mudd College, Claremont, United States","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032561158","display_name":"Alberto Soto","orcid":"https://orcid.org/0000-0002-8151-7321"},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"funder","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Soto","raw_affiliation_strings":["Harvey Mudd College, Claremont, United States"],"affiliations":[{"raw_affiliation_string":"Harvey Mudd College, Claremont, United States","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030482216","display_name":"Christopher M. Clark","orcid":null},"institutions":[{"id":"https://openalex.org/I133543626","display_name":"Harvey Mudd College","ror":"https://ror.org/025ecfn45","country_code":"US","type":"funder","lineage":["https://openalex.org/I133543626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher M. Clark","raw_affiliation_strings":["Harvey Mudd College, Claremont, United States"],"affiliations":[{"raw_affiliation_string":"Harvey Mudd College, Claremont, United States","institution_ids":["https://openalex.org/I133543626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052794511","display_name":"Emily Spurgeon","orcid":"https://orcid.org/0000-0001-9587-7179"},"institutions":[{"id":"https://openalex.org/I59897056","display_name":"California State University, Long Beach","ror":"https://ror.org/0080fxk18","country_code":"US","type":"funder","lineage":["https://openalex.org/I59897056"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emily Spurgeon","raw_affiliation_strings":["California State University, Long Beach, United States"],"affiliations":[{"raw_affiliation_string":"California State University, Long Beach, United States","institution_ids":["https://openalex.org/I59897056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006832801","display_name":"James M. Anderson","orcid":"https://orcid.org/0000-0002-4900-5916"},"institutions":[{"id":"https://openalex.org/I59897056","display_name":"California State University, Long Beach","ror":"https://ror.org/0080fxk18","country_code":"US","type":"funder","lineage":["https://openalex.org/I59897056"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Anderson","raw_affiliation_strings":["California State University, Long Beach, United States"],"affiliations":[{"raw_affiliation_string":"California State University, Long Beach, United States","institution_ids":["https://openalex.org/I59897056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069148631","display_name":"Christopher G. Lowe","orcid":"https://orcid.org/0000-0001-9389-8208"},"institutions":[{"id":"https://openalex.org/I59897056","display_name":"California State University, Long Beach","ror":"https://ror.org/0080fxk18","country_code":"US","type":"funder","lineage":["https://openalex.org/I59897056"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Lowe","raw_affiliation_strings":["California State University, Long Beach, United States"],"affiliations":[{"raw_affiliation_string":"California State University, Long Beach, United States","institution_ids":["https://openalex.org/I59897056"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.212,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.622147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":65,"max":76},"biblio":{"volume":null,"issue":null,"first_page":"808","last_page":"815"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9925,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.984,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44648835}],"concepts":[{"id":"https://openalex.org/C176066374","wikidata":"https://www.wikidata.org/wiki/Q629118","display_name":"Fitness function","level":3,"score":0.6726004},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6502367},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.61557925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.57369846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5103387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5004692},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.44669083},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44648835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43457824},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3512761},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.2342025},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1561979},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1145/3555776.3577749","pdf_url":null,"source":{"id":"https://openalex.org/S4363608665","display_name":"Proceedings of the 37th ACM/SIGAPP Symposium on Applied Computing","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.79}],"grants":[{"funder":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation","award_id":"1952616"}],"datasets":[],"versions":[],"referenced_works_count":11,"referenced_works":["https://openalex.org/W1126974217","https://openalex.org/W192919555","https://openalex.org/W1971855386","https://openalex.org/W1972006618","https://openalex.org/W2486226848","https://openalex.org/W3008308101","https://openalex.org/W3037694644","https://openalex.org/W3152770304","https://openalex.org/W4211244824","https://openalex.org/W4240612636","https://openalex.org/W4287183861"],"related_works":["https://openalex.org/W4292862729","https://openalex.org/W3158921809","https://openalex.org/W2999963885","https://openalex.org/W2618632915","https://openalex.org/W2161428574","https://openalex.org/W2157678966","https://openalex.org/W2150982344","https://openalex.org/W2077416514","https://openalex.org/W1980828932","https://openalex.org/W1904098742"],"abstract_inverted_index":{"Traditional":[0],"techniques":[1],"for":[2,100,188,194],"marine":[3,41,56],"life":[4,57],"tracking":[5],"use":[6],"stationary":[7],"receivers":[8],"that":[9,37,76,82,162],"detect":[10],"and":[11,54,95,120],"obtain":[12],"measurements":[13],"from":[14,89,104],"tagged":[15],"animals.":[16],"Recently,":[17],"such":[18],"static":[19],"systems":[20,51],"have":[21],"been":[22],"replaced":[23],"by":[24],"multiple":[25,105],"mobile":[26],"robots,":[27],"e.g.,":[28],"autonomous":[29],"underwater":[30],"vehicles":[31],"(AUVs),":[32],"equipped":[33],"with":[34,169],"omni-directional":[35],"hydrophones":[36],"can":[38],"accurately":[39,147],"localize":[40,55],"life.":[42],"In":[43],"this":[44],"paper,":[45],"the":[46,135,148,154,163,205,209],"application":[47],"of":[48,92,150],"homogeneous":[49],"multi-AUV":[50],"to":[52,64,144,171],"track":[53],"is":[58],"used":[59,202],"as":[60],"a":[61,78,102],"motivating":[62],"example":[63],"develop":[65],"new":[66,79,129],"MRMP":[67],"(Multi-Robot":[68],"Motion":[69],"Planning)":[70],"algorithms.":[71],"These":[72],"algorithms":[73],"generate":[74],"trajectories":[75],"maximize":[77],"fitness":[80,140,183,187,206],"function":[81,141,184],"incorporates":[83],"1)":[84],"probabilistic":[85],"motion":[86,199,216,217],"models":[87,200],"generated":[88,133],"historical":[90],"data":[91],"live":[93],"sharks,":[94],"2)":[96],"ideal":[97],"AUV":[98],"formations":[99],"observing":[101],"shark":[103],"sensor":[106],"vantage":[107],"points.":[108],"The":[109,139,186],"two":[110],"expansive":[111],"RRT":[112],"variants,":[113],"named":[114],"Independent":[115,175],"State":[116,122],"Expansion":[117,123],"(ISE)":[118],"planning":[119],"Joint":[121,164],"(JSE)":[124],"planning,":[125],"differ":[126],"in":[127],"how":[128,146],"samples":[130],"are":[131],"randomly":[132],"during":[134],"algorithm's":[136],"random":[137],"search.":[138],"was":[142,160,166,191],"developed":[143],"quantify":[145],"positioning":[149],"AUVs":[151],"would":[152],"trilaterate":[153],"target":[155,198,215],"animal.":[156],"Through":[157],"simulation,":[158],"it":[159],"found":[161],"planner":[165],"70%":[167],"faster":[168],"respect":[170],"run":[172],"time":[173],"than":[174],"planner,":[176],"while":[177],"both":[178],"could":[179],"produce":[180],"similar":[181],"mean":[182],"values.":[185],"these":[189],"variants":[190],"also":[192],"measured":[193],"simulations":[195],"where":[196],"different":[197],"were":[201],"when":[203,212],"calculating":[204],"function,":[207],"highlighting":[208],"improved":[210],"performance":[211],"using":[213],"actual":[214],"models.":[218]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4379746324","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-04-13T02:32:41.179499","created_date":"2023-06-08"}