{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T21:04:15Z","timestamp":1763499855657,"version":"3.40.5"},"reference-count":12,"publisher":"American Institute of Aeronautics and Astronautics (AIAA)","issue":"8","funder":[{"name":"NASA Jet Propulsion Laboratory Strategic University Research Partnership (SURP) program"},{"name":"Alexander S. Onassis Foundation"}],"content-domain":{"domain":["arc.aiaa.org"],"crossmark-restriction":true},"short-container-title":["Journal of Aerospace Information Systems"],"published-print":{"date-parts":[[2023,8]]},"abstract":"<jats:p> For the safe deployment of multirobot systems, accurate position estimation is necessary. We present a multirobot navigation algorithm that accomplishes the dual objective of reaching designated goal positions and maintaining low position uncertainty. We pose the problem as a [Formula: see text]-partially observable Markov decision process ([Formula: see text]POMDP) to capture position uncertainty through a belief-based reward. The multirobot system employs a centralized extended Kalman filter (EKF) for state estimation, whose output is used as the observation as well as the belief in the [Formula: see text]POMDP. Using the EKF output as the observation and belief allows for the integration of the EKF in the action planning module of the system. To solve the [Formula: see text]POMDP, we adapt the online information particle filter tree algorithm to be compatible with the EKF closed-form output being used as both the observation and belief. We present results for the proposed navigation algorithm that show emergent behaviors for a multirobot system, where the robots move to provide inter-ranging measurements that minimize position uncertainty for all robots in the system. We also demonstrate that the proposed method outperforms a state-of-the-art solver (partially observable Monte Carlo planning with observation widening) and a direct-to-goal planner in terms of minimizing position uncertainty. <\/jats:p>","DOI":"10.2514\/1.i011146","type":"journal-article","created":{"date-parts":[[2023,6,7]],"date-time":"2023-06-07T02:49:47Z","timestamp":1686106187000},"page":"437-446","update-policy":"https:\/\/doi.org\/10.2514\/aiaa_crossmarkpolicy","source":"Crossref","is-referenced-by-count":2,"title":["Multirobot Navigation Using Partially Observable Markov Decision Processes with Belief-Based Rewards"],"prefix":"10.2514","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3003-4880","authenticated-orcid":false,"given":"Alexandros E.","family":"Tzikas","sequence":"first","affiliation":[{"name":"Stanford University, Stanford, California 94305"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Derek","family":"Knowles","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, California 94305"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Grace X.","family":"Gao","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, California 94305"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mykel J.","family":"Kochenderfer","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, California 94305"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1387","reference":[{"key":"r1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3040517"},{"key":"r2","doi-asserted-by":"publisher","DOI":"10.5772\/57313"},{"key":"r3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146609"},{"key":"r4","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(98)00049-9"},{"volume-title":"Algorithms for Decision Making","year":"2022","author":"Kochenderfer M. J.","key":"r7"},{"key":"r12","doi-asserted-by":"publisher","DOI":"10.1613\/jair.5328"},{"key":"r15","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-020-09467-6"},{"key":"r17","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-014-9279-8"},{"key":"r18","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2021.3116532"},{"key":"r20","first-page":"22","volume":"83","author":"Nalick J.","year":"2020","journal-title":"Caltech Magazine"},{"key":"r23","unstructured":"ThrunS.BurgardW.FoxD., Probabilistic Robotics, MIT Press, Cambridge, MA, 2005, pp. 54\u201364."},{"key":"r24","unstructured":"MortonY. J.van DiggelenF.SpilkerJ. J. Jr.ParkinsonB. W.LoS.GaoG., Position, Navigation, and Timing Technologies in the 21st Century: Integrated Satellite Navigation, Sensor Systems, and Civil Applications, Wiley, Hoboken, NJ, 2021, pp. 377\u2013418."}],"container-title":["Journal of Aerospace Information Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/arc.aiaa.org\/doi\/pdf\/10.2514\/1.I011146","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,14]],"date-time":"2023-09-14T00:34:29Z","timestamp":1694651669000},"score":1,"resource":{"primary":{"URL":"https:\/\/arc.aiaa.org\/doi\/10.2514\/1.I011146"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8]]},"references-count":12,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2023,8]]}},"alternative-id":["10.2514\/1.I011146"],"URL":"https:\/\/doi.org\/10.2514\/1.i011146","relation":{},"ISSN":["1940-3151","2327-3097"],"issn-type":[{"type":"print","value":"1940-3151"},{"type":"electronic","value":"2327-3097"}],"subject":[],"published":{"date-parts":[[2023,8]]},"assertion":[{"value":"2022-05-09","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-02-17","order":1,"name":"revised","label":"Revised","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-02-25","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-06-06","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}