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@book{abelson-et-al:scheme,
  author    = {Harold Abelson and Gerald~Jay Sussman and Julie Sussman},
  title     = {Structure and Interpretation of Computer Programs},
  publisher = {MIT Press},
  address   = {Cambridge, Massachusetts},
  year      = {1985}
}

@inproceedings{bgf:Lixto,
  author    = {Robert Baumgartner and Georg Gottlob and Sergio Flesca},
  title     = {Visual Information Extraction with {Lixto}},
  booktitle = {Proceedings of the 27th International Conference on Very Large Databases},
  pages     = {119--128},
  publisher = {Morgan Kaufmann},
  address   = {Rome, Italy},
  month     = {September},
  year      = {2001}
}


% Matt - Bayesian RL w/ ocean currents domain
@inproceedings{budd2023bayesian,
  title        = {Bayesian reinforcement learning for single-episode missions in partially unknown environments},
  author       = {Budd, Matthew and Duckworth, Paul and Hawes, Nick and Lacerda, Bruno},
  booktitle    = {Conference on Robot Learning},
  pages        = {1189--1198},
  year         = {2023},
  organization = {PMLR}
}

% Matt - SafeEstMDP
@inproceedings{budd2020markov,
  title        = {Markov decision processes with unknown state feature values for safe exploration using {Gaussian} processes},
  author       = {Budd, Matthew and Lacerda, Bruno and Duckworth, Paul and West, Andrew and Lennox, Barry and Hawes, Nick},
  booktitle    = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {7344--7350},
  year         = {2020},
  organization = {IEEE}
}

% PLUMES - maximum seek-and-sample 
@article{flaspohler2019information,
  title     = {Information-guided robotic maximum seek-and-sample in partially observable continuous environments},
  author    = {Flaspohler, Genevieve and Preston, Victoria and Michel, Anna PM and Girdhar, Yogesh and Roy, Nicholas},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {4},
  number    = {4},
  pages     = {3782--3789},
  year      = {2019},
  publisher = {IEEE}
}

% Gaussian processes - Rasmussen & Williams
@book{williams2006gaussian,
  title     = {{Gaussian} processes for machine learning},
  author    = {Williams, Christopher KI and Rasmussen, Carl Edward},
  volume    = {2},
  year      = {2006},
  publisher = {MIT Press Cambridge, MA}
}

% Bellman - DP, curse of dimensionality
@article{bellman1956dynamic,
  title     = {Dynamic programming and {Lagrange} multipliers},
  author    = {Bellman, Richard},
  journal   = {Proceedings of the National Academy of Sciences},
  volume    = {42},
  number    = {10},
  pages     = {767--769},
  year      = {1956},
  publisher = {National Acad Sciences}
}

% Blessing of abstraction
@article{goodman2011learning,
  title     = {Learning a theory of causality.},
  author    = {Goodman, Noah D and Ullman, Tomer D and Tenenbaum, Joshua B},
  journal   = {Psychological review},
  volume    = {118},
  number    = {1},
  pages     = {110},
  year      = {2011},
  publisher = {American Psychological Association}
}

% Thesis with lots of great work on GP kernel design
@phdthesis{duvenaud2014automatic,
  title  = {Automatic model construction with {Gaussian} processes},
  author = {Duvenaud, David},
  year   = {2014},
  school = {University of Cambridge}
}

% STRANDS
@article{hawes2017strands,
  title     = {The {STRANDS} project: Long-term autonomy in everyday environments},
  author    = {Hawes, Nick and Burbridge, Christopher and Jovan, Ferdian and Kunze, Lars and Lacerda, Bruno and Mudrova, Lenka and Young, Jay and Wyatt, Jeremy and Hebesberger, Denise and Kortner, Tobias and others},
  journal   = {IEEE Robotics \& Automation Magazine},
  volume    = {24},
  number    = {3},
  pages     = {146--156},
  year      = {2017},
  publisher = {IEEE}
}

% Paul's paper - GP planning, time-varying
@inproceedings{duckworth2021time,
  title        = {Time-bounded mission planning in time-varying domains with {semi-MDPs} and {Gaussian} processes},
  author       = {Duckworth, Paul and Lacerda, Bruno and Hawes, Nick},
  booktitle    = {Conference on Robot Learning},
  pages        = {1654--1668},
  year         = {2021},
  organization = {PMLR}
}

% Sequential Bayes opt for spatiotemporal modelling 
% POMDP planning with GPs
@inproceedings{morere2017sequential,
  title        = {Sequential {Bayesian} optimization as a {POMDP} for environment monitoring with {UAVs}},
  author       = {Morere, Philippe and Marchant, Roman and Ramos, Fabio},
  booktitle    = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {6381--6388},
  year         = {2017},
  organization = {IEEE}
}

% Earlier work than the paper above
@inproceedings{marchant2014sequential,
  title        = {Sequential {Bayesian} optimisation for spatial-temporal monitoring.},
  author       = {Marchant, Roman and Ramos, Fabio and Sanner, Scott and others},
  booktitle    = {UAI},
  pages        = {553--562},
  year         = {2014},
  organization = {Citeseer}
}

% PUCT
@inproceedings{auger2013continuous,
  title        = {Continuous upper confidence trees with polynomial exploration--consistency},
  author       = {Auger, David and Couetoux, Adrien and Teytaud, Olivier},
  booktitle    = {Machine Learning and Knowledge Discovery in Databases: European Conference, ECML PKDD 2013, Prague, Czech Republic, September 23-27, 2013, Proceedings, Part I 13},
  pages        = {194--209},
  year         = {2013},
  organization = {Springer}
}

% Progressive widening
@inproceedings{couetoux2011continuous,
  title        = {Continuous upper confidence trees},
  author       = {Cou{\"e}toux, Adrien and Hoock, Jean-Baptiste and Sokolovska, Nataliya and Teytaud, Olivier and Bonnard, Nicolas},
  booktitle    = {Learning and Intelligent Optimization: 5th International Conference, LION 5, Rome, Italy, January 17-21, 2011. Selected Papers 5},
  pages        = {433--445},
  year         = {2011},
  organization = {Springer}
}

% GP-UCB heuristic
@article{srinivas2012information,
  title     = {Information-theoretic regret bounds for {Gaussian} process optimization in the bandit setting},
  author    = {Srinivas, Niranjan and Krause, Andreas and Kakade, Sham M and Seeger, Matthias W},
  journal   = {IEEE transactions on information theory},
  volume    = {58},
  number    = {5},
  pages     = {3250--3265},
  year      = {2012},
  publisher = {IEEE}
}

% Sampling-based POMDP (not MCTS)
@inproceedings{kurniawati2016online,
  title        = {An online POMDP solver for uncertainty planning in dynamic environment},
  author       = {Kurniawati, Hanna and Yadav, Vinay},
  booktitle    = {Robotics Research: The 16th International Symposium ISRR},
  pages        = {611--629},
  year         = {2016},
  organization = {Springer}
}

@article{silver2010monte,
  title   = {{Monte-Carlo planning in large POMDPs}},
  author  = {Silver, David and Veness, Joel},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {23},
  year    = {2010}
}

% MCTS for Go
@article{gelly2011monte,
  title     = {{Monte-Carlo} tree search and rapid action value estimation in computer {Go}},
  author    = {Gelly, Sylvain and Silver, David},
  journal   = {Artificial Intelligence},
  volume    = {175},
  number    = {11},
  pages     = {1856--1875},
  year      = {2011},
  publisher = {Elsevier}
}

% DESPOT
@article{somani2013despot,
  title   = {{DESPOT: Online POMDP planning with regularization}},
  author  = {Somani, Adhiraj and Ye, Nan and Hsu, David and Lee, Wee Sun},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {26},
  year    = {2013}
}

@article{bottarelli2019orienteering,
  title     = {Orienteering-based informative path planning for environmental monitoring},
  author    = {Bottarelli, Lorenzo and Bicego, Manuele and Blum, Jason and Farinelli, Alessandro},
  journal   = {Engineering Applications of Artificial Intelligence},
  volume    = {77},
  pages     = {46--58},
  year      = {2019},
  publisher = {Elsevier}
}

@article{ingram2020multi,
  title     = {Multi-output {Gaussian} processes for species distribution modelling},
  author    = {Ingram, Martin and Vukcevic, Damjan and Golding, Nick},
  journal   = {Methods in ecology and evolution},
  volume    = {11},
  number    = {12},
  pages     = {1587--1598},
  year      = {2020},
  publisher = {Wiley Online Library}
}

@article{golding2016fast,
  title     = {Fast and flexible {Bayesian} species distribution modelling using {Gaussian} processes},
  author    = {Golding, Nick and Purse, Bethan V},
  journal   = {Methods in Ecology and Evolution},
  volume    = {7},
  number    = {5},
  pages     = {598--608},
  year      = {2016},
  publisher = {Wiley Online Library}
}

@article{wright2021spatial,
  title     = {Spatial {Gaussian} processes improve multi-species occupancy models when range boundaries are uncertain and nonoverlapping},
  author    = {Wright, Wilson J and Irvine, Kathryn M and Rodhouse, Thomas J and Litt, Andrea R},
  journal   = {Ecology and Evolution},
  volume    = {11},
  number    = {13},
  pages     = {8516--8527},
  year      = {2021},
  publisher = {Wiley Online Library}
}

@inproceedings{koenig2004design,
  title        = {Design and use paradigms for {Gazebo}, an open-source multi-robot simulator},
  author       = {Koenig, Nathan and Howard, Andrew},
  booktitle    = {{2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE Cat. No. 04CH37566)}},
  volume       = {3},
  pages        = {2149--2154},
  year         = {2004},
  organization = {IEEE}
}

@article{wisth2022vilens,
  title     = {{VILENS}: Visual, inertial, lidar, and leg odometry for all-terrain legged robots},
  author    = {Wisth, David and Camurri, Marco and Fallon, Maurice},
  journal   = {IEEE Transactions on Robotics},
  year      = {2022},
  publisher = {IEEE}
}

@inproceedings{quigley2009ros,
  title        = {{ROS}: an open-source Robot Operating System},
  author       = {Quigley, Morgan and Conley, Ken and Gerkey, Brian and Faust, Josh and Foote, Tully and Leibs, Jeremy and Wheeler, Rob and Ng, Andrew Y and others},
  booktitle    = {{ICRA workshop on open source software}},
  volume       = {3},
  number       = {3.2},
  pages        = {5},
  year         = {2009},
  organization = {Kobe, Japan}
}

@book{kemeny1976denumerable,
  title     = {Denumerable {M}arkov chains},
  author    = {Kemeny, J.  and Snell, J.  and Knapp, A. },
  year      = {1976},
  publisher = {Springer-Verlag},
  edition   = {2nd}
}

@article{talluto2018multifaceted,
  author    = {Matthew V. Talluto and Karel Mokany and Laura J. Pollock and Wilfried Thuiller},
  doi       = {10.1111/ddi.12781},
  issn      = {14724642},
  issue     = {10},
  journal   = {Diversity and Distributions},
  keywords  = {Gaussian processes,beta diversity,biodiversity modelling,functional diversity,macroecology,phylogenetic diversity},
  month     = {10},
  pages     = {1492-1502},
  publisher = {Blackwell Publishing Ltd},
  title     = {Multifaceted biodiversity modelling at macroecological scales using {Gaussian} processes},
  volume    = {24},
  year      = {2018}
}

% BAMCP
@article{guez2013scalable,
  title   = {Scalable and efficient {Bayes}-adaptive reinforcement learning based on {Monte-Carlo} tree search},
  author  = {Guez, Arthur and Silver, David and Dayan, Peter},
  journal = {Journal of Artificial Intelligence Research},
  volume  = {48},
  pages   = {841--883},
  year    = {2013}
}

% POMDP
@article{kaelbling1998planning,
  title     = {Planning and acting in partially observable stochastic domains},
  author    = {Kaelbling, Leslie Pack and Littman, Michael L and Cassandra, Anthony R},
  journal   = {Artificial intelligence},
  volume    = {101},
  number    = {1-2},
  pages     = {99--134},
  year      = {1998},
  publisher = {Elsevier}
}

% Adam optimiser
@article{kingma2014adam,
  title   = {Adam: A method for stochastic optimization},
  author  = {Kingma, Diederik P and Ba, Jimmy},
  journal = {arXiv preprint arXiv:1412.6980},
  year    = {2014}
}

% Paper w/ Oxford ecologists
@article{jackson2022short,
  title     = {Short-range multispectral imaging is an inexpensive, fast, and accurate approach to estimate biodiversity in a temperate calcareous grassland},
  author    = {Jackson, John and Lawson, Clare S and Adelmant, Celestine and Huhtala, Evie and Fernandes, Philip and Hodgson, Rose and King, Hannah and Williamson, Lucy and Maseyk, Kadmiel and Hawes, Nick and others},
  journal   = {Ecology and Evolution},
  volume    = {12},
  number    = {12},
  pages     = {e9623},
  year      = {2022},
  publisher = {Wiley Online Library}
}

% Clarissa shaed autonomy
@inproceedings{costen2022shared,
  title        = {Shared autonomy systems with stochastic operator models},
  author       = {Costen, Clarissa and Rigter, Marc and Lacerda, Bruno and Hawes, Nick},
  year         = {2022},
  organization = {International Joint Conferences on Artificial Intelligence Organization}
}

% PLGRIM - CoSTAR exploration paper, POMDPs in robotics
@inproceedings{kim2021plgrim,
  title     = {{PLGRIM}: Hierarchical value learning for large-scale exploration in unknown environments},
  author    = {Kim, Sung-Kyun and Bouman, Amanda and Salhotra, Gautam and Fan, David D and Otsu, Kyohei and Burdick, Joel and Agha-mohammadi, Ali-akbar},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  volume    = {31},
  pages     = {652--662},
  year      = {2021}
}

% Dec-POMDPs for multi-robot coordinations
@article{capitan2013decentralized,
  title     = {Decentralized multi-robot cooperation with auctioned POMDPs},
  author    = {Capitan, Jesus and Spaan, Matthijs TJ and Merino, Luis and Ollero, Anibal},
  journal   = {The International Journal of Robotics Research},
  volume    = {32},
  number    = {6},
  pages     = {650--671},
  year      = {2013},
  publisher = {SAGE Publications Sage UK: London, England}
}

% Another ocean currents prediction paper
@article{sarkar2019spatiotemporal,
  title     = {Spatiotemporal prediction of tidal currents using {Gaussian} processes},
  author    = {Sarkar, Dripta and Osborne, Michael A and Adcock, Thomas AA},
  journal   = {Journal of Geophysical Research: Oceans},
  volume    = {124},
  number    = {4},
  pages     = {2697--2715},
  year      = {2019},
  publisher = {Wiley Online Library}
}

% Restless bandits
@article{whittle1988restless,
  title     = {Restless bandits: Activity allocation in a changing world},
  author    = {Whittle, Peter},
  journal   = {Journal of applied probability},
  volume    = {25},
  number    = {A},
  pages     = {287--298},
  year      = {1988},
  publisher = {Cambridge University Press}
}

% BAMDP
@book{duff2002optimal,
  title     = {Optimal Learning: Computational procedures for Bayes-adaptive Markov decision processes},
  author    = {Duff, Michael O'Gordon},
  year      = {2002},
  publisher = {University of Massachusetts Amherst}
}

% Multi-output GP
@inproceedings{osborne2008towards,
  title        = {Towards real-time information processing of sensor network data using computationally efficient multi-output {Gaussian} processes},
  author       = {Osborne, Michael A and Roberts, Stephen J and Rogers, Alex and Ramchurn, Sarvapali D and Jennings, Nicholas R},
  booktitle    = {2008 international conference on information processing in sensor networks (IPSN 2008)},
  pages        = {109--120},
  year         = {2008},
  organization = {IEEE}
}

@inproceedings{costen2022planning,
  title     = {Planning with hidden parameter polynomial MDPs},
  author    = {Costen, Clarissa and Rigter, Marc and Lacerda, Bruno and Hawes, Nick},
  booktitle = {AAAI Conference on Artificial Intelligence},
  year      = {2022}
}

% Coral reef monitoring periodic variation - primary source
@article{staaterman2017bioacoustic,
  title   = {Bioacoustic measurements complement visual biodiversity surveys: preliminary evidence from four shallow marine habitats},
  author  = {Staaterman, Erica and Ogburn, Matthew B and Altieri, Andrew H and Brandl, Simon J and Whippo, Ross and Seemann, Janina and Goodison, Michael and Duffy, J Emmett},
  journal = {Marine Ecology Progress Series},
  volume  = {575},
  pages   = {207--215},
  year    = {2017}
}

% Periodic GPs in coral reef monitoring
@inproceedings{mccammon2022adaptive,
  title        = {Adaptive Online Sampling of Periodic Processes with Application to Coral Reef Acoustic Abundance Monitoring},
  author       = {McCammon, Seth and Aoki, Nad{\`e}ge and Mooney, T Aran and Girdhar, Yogesh},
  booktitle    = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {11671--11678},
  year         = {2022},
  organization = {IEEE}
}

% Citation for the coral reef acoustic dataset
@article{lin2021exploring,
  title     = {Exploring coral reef biodiversity via underwater soundscapes},
  author    = {Lin, Tzu-Hao and Akamatsu, Tomonari and Sinniger, Frederic and Harii, Saki},
  journal   = {Biological Conservation},
  volume    = {253},
  pages     = {108901},
  year      = {2021},
  publisher = {Elsevier}
}

% Hierarchical planning
@inproceedings{kaelbling2011hierarchical,
  title        = {Hierarchical task and motion planning in the now},
  author       = {Kaelbling, Leslie Pack and Lozano-P{\'e}rez, Tom{\'a}s},
  booktitle    = {2011 IEEE International Conference on Robotics and Automation},
  pages        = {1470--1477},
  year         = {2011},
  organization = {IEEE}
}

@inproceedings{gopalan2017planning,
  title     = {Planning with abstract {Markov} decision processes},
  author    = {Gopalan, Nakul and Littman, Michael and MacGlashan, James and Squire, Shawn and Tellex, Stefanie and Winder, John and Wong, Lawson and others},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  volume    = {27},
  pages     = {480--488},
  year      = {2017}
}

% Charge scheduling
@inproceedings{tomy2019battery,
  title        = {Battery charge scheduling in long-life autonomous mobile robots},
  author       = {Tomy, Milan and Lacerda, Bruno and Hawes, Nick and Wyatt, Jeremy L},
  booktitle    = {2019 European Conference on Mobile Robots (ECMR)},
  pages        = {1--6},
  year         = {2019},
  organization = {IEEE}
}

% Energy-aware routing
@article{asghar2023energy,
  author     = {Ahmad Bilal Asghar and
                Pratap Tokekar},
  title      = {Energy-Aware Route Planning for a Battery-Constrained Robot with Multiple
                Charging Depots},
  journal    = {CoRR},
  volume     = {abs/2310.00834},
  year       = {2023},
  url        = {https://doi.org/10.48550/arXiv.2310.00834},
  doi        = {10.48550/ARXIV.2310.00834},
  eprinttype = {arXiv},
  eprint     = {2310.00834},
  timestamp  = {Wed, 18 Oct 2023 16:20:58 +0200},
  biburl     = {https://dblp.org/rec/journals/corr/abs-2310-00834.bib},
  bibsource  = {dblp computer science bibliography, https://dblp.org}
}

% Shortest path with charging
@inproceedings{baum2015shortest,
  title     = {Shortest feasible paths with charging stops for battery electric vehicles},
  author    = {Baum, Moritz and Dibbelt, Julian and Gemsa, Andreas and Wagner, Dorothea and Z{\"u}ndorf, Tobias},
  booktitle = {Proceedings of the 23rd SIGSPATIAL international conference on advances in geographic information systems},
  pages     = {1--10},
  year      = {2015}
}

% Options paper
@article{sutton1999between,
  title     = {Between {MDPs} and semi-{MDPs}: A framework for temporal abstraction in reinforcement learning},
  author    = {Sutton, Richard S and Precup, Doina and Singh, Satinder},
  journal   = {Artificial intelligence},
  volume    = {112},
  number    = {1-2},
  pages     = {181--211},
  year      = {1999},
  publisher = {Elsevier}
}

% Macro actions
@inproceedings{mcgovern1997roles,
  title     = {Roles of macro-actions in accelerating reinforcement learning},
  author    = {McGovern, Amy and Sutton, Richard S and Fagg, Andrew H},
  booktitle = {Grace Hopper celebration of women in computing},
  volume    = {1317},
  pages     = {15},
  year      = {1997}
}

@article{binney2013optimizing,
  title     = {Optimizing waypoints for monitoring spatiotemporal phenomena},
  author    = {Binney, Jonathan and Krause, Andreas and Sukhatme, Gaurav S},
  journal   = {The International Journal of Robotics Research},
  volume    = {32},
  number    = {8},
  pages     = {873--888},
  year      = {2013},
  publisher = {SAGE Publications Sage UK: London, England}
}

@inproceedings{baykal2017persistent,
  title        = {Persistent surveillance of events with unknown, time-varying statistics},
  author       = {Baykal, Cenk and Rosman, Guy and Claici, Sebastian and Rus, Daniela},
  booktitle    = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {2682--2689},
  year         = {2017},
  organization = {IEEE}
}

@article{lan2016rapidly,
  title     = {Rapidly exploring random cycles: Persistent estimation of spatiotemporal fields with multiple sensing robots},
  author    = {Lan, Xiaodong and Schwager, Mac},
  journal   = {IEEE Transactions on Robotics},
  volume    = {32},
  number    = {5},
  pages     = {1230--1244},
  year      = {2016},
  publisher = {IEEE}
}

@inproceedings{ma2018multi,
  title        = {Multi-robot informative and adaptive planning for persistent environmental monitoring},
  author       = {Ma, Kai-Chieh and Ma, Zhibei and Liu, Lantao and Sukhatme, Gaurav S},
  booktitle    = {Distributed Autonomous Robotic Systems: The 14th International Symposium},
  pages        = {285--298},
  year         = {2018},
  organization = {Springer}
}

@article{lin2022robust,
  title     = {Robust planning for persistent surveillance with energy-constrained {UAVs} and mobile charging stations},
  author    = {Lin, Xiaoshan and Yaz{\i}c{\i}o{\u{g}}lu, Yasin and Aksaray, Derya},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {7},
  number    = {2},
  pages     = {4157--4164},
  year      = {2022},
  publisher = {IEEE}
}

@article{seyedi2019persistent,
  title     = {Persistent surveillance with energy-constrained {UAVs} and mobile charging stations},
  author    = {Seyedi, Sepehr and Yazicio{\u{g}}lu, Yasin and Aksaray, Derya},
  journal   = {IFAC-PapersOnLine},
  volume    = {52},
  number    = {20},
  pages     = {193--198},
  year      = {2019},
  publisher = {Elsevier}
}

% Crop monitoring paper
@article{fountas2020agricultural,
  title     = {Agricultural robotics for field operations},
  author    = {Fountas, Spyros and Mylonas, Nikos and Malounas, Ioannis and Rodias, Efthymios and Hellmann Santos, Christoph and Pekkeriet, Erik},
  journal   = {Sensors},
  volume    = {20},
  number    = {9},
  pages     = {2672},
  year      = {2020},
  publisher = {MDPI}
}

% SEMFIRE - wildfire monitoring
@inproceedings{couceiro2019semfire,
  title        = {{SEMFIRE}: Towards a new generation of forestry maintenance multi-robot systems},
  author       = {Couceiro, Micael S and Portugal, David and Ferreira, Jo{\~a}o F and Rocha, Rui P},
  booktitle    = {2019 IEEE/SICE International Symposium on System Integration (SII)},
  pages        = {270--276},
  year         = {2019},
  organization = {IEEE}
}

% Consumption MDPs
@inproceedings{blahoudek2020qualitative,
  title        = {Qualitative controller synthesis for consumption {Markov} decision processes},
  author       = {Blahoudek, Franti{\v{s}}ek and Br{\'a}zdil, Tom{\'a}{\v{s}} and Novotn{\`y}, Petr and Ornik, Melkior and Thangeda, Pranay and Topcu, Ufuk},
  booktitle    = {International Conference on Computer Aided Verification},
  pages        = {421--447},
  year         = {2020},
  organization = {Springer}
}

% Coral reef robot surveying
@article{manderson2017robotic,
  title     = {Robotic coral reef health assessment using automated image analysis},
  author    = {Manderson, Travis and Li, Jimmy and Dudek, Natasha and Meger, David and Dudek, Gregory},
  journal   = {Journal of Field Robotics},
  volume    = {34},
  number    = {1},
  pages     = {170--187},
  year      = {2017},
  publisher = {Wiley Online Library}
}

@misc{solarxone,
  title        = {{SolarXOne: Autonomous UAV Technology}},
  howpublished = {\url{https://xsun.fr/autonomous-drone/}},
  year         = {2023},
  note         = {Accessed: 2024-04-09}
}

@misc{NASAmodis6,
  title        = {{MODIS Collection 6 Hotspot / Active Fire Detections MCD14ML distributed from NASA FIRMS}},
  howpublished = {\url{https://earthdata.nasa.gov/firms. doi:10.5067/FIRMS/MODIS/MCD14ML}},
  year         = {2024},
  note         = {Accessed: 2024-03-27}
}

@inproceedings{dong20174d,
  title        = {{4D} crop monitoring: Spatio-temporal reconstruction for agriculture},
  author       = {Dong, Jing and Burnham, John Gary and Boots, Byron and Rains, Glen and Dellaert, Frank},
  booktitle    = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {3878--3885},
  year         = {2017},
  organization = {IEEE}
}

@inproceedings{albore2015online,
  title     = {An online replanning approach for crop fields mapping with autonomous {UAV}s},
  author    = {Albore, Alexandre and Peyrard, Nathalie and Sabbadin, R{\'e}gis and K{\"o}nigsbuch, Florent Teichteil},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  volume    = {25},
  pages     = {259--267},
  year      = {2015}
}

@inproceedings{erol1994htn,
  title     = {{HTN} planning: Complexity and expressivity},
  author    = {Erol, Kutluhan and Hendler, James and Nau, Dana S},
  booktitle = {AAAI},
  volume    = {94},
  pages     = {1123--1128},
  year      = {1994}
}

@article{erol1996complexity,
  title     = {Complexity results for {HTN} planning},
  author    = {Erol, Kutluhan and Hendler, James and Nau, Dana S},
  journal   = {Annals of Mathematics and Artificial Intelligence},
  volume    = {18},
  number    = {1},
  pages     = {69--93},
  year      = {1996},
  publisher = {Springer}
}

@article{nau2003shop2,
  title   = {SHOP2: An HTN planning system},
  author  = {Nau, Dana S and Au, Tsz-Chiu and Ilghami, Okhtay and Kuter, Ugur and Murdock, J William and Wu, Dan and Yaman, Fusun},
  journal = {Journal of artificial intelligence research},
  volume  = {20},
  pages   = {379--404},
  year    = {2003}
}

% HTNs in robotics
@inproceedings{hayes2016autonomously,
  title        = {Autonomously constructing hierarchical task networks for planning and human-robot collaboration},
  author       = {Hayes, Bradley and Scassellati, Brian},
  booktitle    = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {5469--5476},
  year         = {2016},
  organization = {IEEE}
}

@inproceedings{lin1993hierarchical,
  title        = {Hierarchical learning of robot skills by reinforcement},
  author       = {Lin, L-J},
  booktitle    = {IEEE International Conference on Neural Networks},
  pages        = {181--186},
  year         = {1993},
  organization = {IEEE}
}


@inproceedings{obst2005using,
  title        = {Using a planner for coordination of multiagent team behavior},
  author       = {Obst, Oliver},
  booktitle    = {International Workshop on Programming Multi-Agent Systems},
  pages        = {90--100},
  year         = {2005},
  organization = {Springer}
}

% Seaweed farm inspection
@article{stenius2022system,
  title     = {A system for autonomous seaweed farm inspection with an underwater robot},
  author    = {Stenius, Ivan and Folkesson, John and Bhat, Sriharsha and Sprague, Christopher Iliffe and Ling, Li and {\"O}zkahraman, {\"O}zer and Bore, Nils and Cong, Zheng and Severholt, Josefine and Ljung, Carl and others},
  journal   = {Sensors},
  volume    = {22},
  number    = {13},
  pages     = {5064},
  year      = {2022},
  publisher = {MDPI}
}

@article{owen2020movement,
  title     = {Movement ecology of large herbivores in {African} savannas: current knowledge and gaps},
  author    = {Owen-Smith, Norman and Hopcraft, Grant and Morrison, Thomas and Chamaill{\'e}-Jammes, Simon and Hetem, Robyn and Bennitt, Emily and Van Langevelde, Frank},
  journal   = {Mammal Review},
  volume    = {50},
  number    = {3},
  pages     = {252--266},
  year      = {2020},
  publisher = {Wiley Online Library}
}

@inproceedings{singh2010modeling,
  title        = {Modeling and decision making in spatio-temporal processes for environmental surveillance},
  author       = {Singh, Amarjeet and Ramos, Fabio and Whyte, Hugh Durrant and Kaiser, William J},
  booktitle    = {2010 IEEE International Conference on Robotics and Automation},
  pages        = {5490--5497},
  year         = {2010},
  organization = {IEEE}
}

@inproceedings{tiwari2016resource,
  title        = {Resource-constrained decentralized active sensing for multi-robot systems using distributed {Gaussian} processes},
  author       = {Tiwari, Kshitij and Honor{\'e}, Valentin and Jeong, Sungmoon and Chong, Nak Young and Deisenroth, Marc Peter},
  booktitle    = {2016 16th International Conference on Control, Automation and Systems (ICCAS)},
  pages        = {13--18},
  year         = {2016},
  organization = {IEEE}
}

@article{jang2020multi,
  title     = {Multi-robot active sensing and environmental model learning with distributed {Gaussian} process},
  author    = {Jang, Dohyun and Yoo, Jaehyun and Son, Clark Youngdong and Kim, Dabin and Kim, H Jin},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {5},
  number    = {4},
  pages     = {5905--5912},
  year      = {2020},
  publisher = {IEEE}
}

@article{santos2017spatio,
  title     = {Spatio-temporal exploration strategies for long-term autonomy of mobile robots},
  author    = {Santos, Jo{\~a}o Machado and Krajn{\'\i}k, Tom{\'a}{\v{s}} and Duckett, Tom},
  journal   = {Robotics and Autonomous Systems},
  volume    = {88},
  pages     = {116--126},
  year      = {2017},
  publisher = {Elsevier}
}

@inproceedings{sears2022mapping,
  title        = {Mapping of spatiotemporal scalar fields by mobile robots using {Gaussian} process regression},
  author       = {Sears, Thomas MC and Marshall, Joshua A},
  booktitle    = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {6651--6656},
  year         = {2022},
  organization = {IEEE}
}

@article{mathew2015multirobot,
  title     = {Multirobot rendezvous planning for recharging in persistent tasks},
  author    = {Mathew, Neil and Smith, Stephen L and Waslander, Steven L},
  journal   = {IEEE Transactions on Robotics},
  volume    = {31},
  number    = {1},
  pages     = {128--142},
  year      = {2015},
  publisher = {IEEE}
}

@inproceedings{mitchell2015multi,
  title        = {Multi-robot persistent coverage with stochastic task costs},
  author       = {Mitchell, Derek and Chakraborty, Nilanjan and Sycara, Katia and Michael, Nathan},
  booktitle    = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {3401--3406},
  year         = {2015},
  organization = {IEEE}
}

@inproceedings{stephens2024planning,
  title        = {Planning for Long-Term Monitoring Missions in Time-Varying Environments},
  author       = {Stephens, Alex and Lacerda, Bruno and Hawes, Nick},
  booktitle    = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year         = {2024},
  organization = {IEEE}
}

@inproceedings{stephens2024hierarchical,
  title     = {Hierarchical Planning for Resource-Constrained Long-Term Monitoring Missions in Time-Varying Environments},
  author    = {Stephens, Alex and Lacerda, Bruno and Hawes, Nick},
  booktitle = {European Conference on Artificial Intelligence (ECAI)},
  year      = {2024},
  publisher = {IOS Press}
}

@article{stephens2024auro,
  title     = {Planning under uncertainty for safe robot exploration using {Gaussian} process prediction},
  author    = {Stephens, Alex and Budd, Matthew and Staniaszek, Michal and Casseau, Benoit and Duckworth, Paul and Fallon, Maurice and Hawes, Nick and Lacerda, Bruno},
  journal   = {Autonomous Robots},
  volume    = {48},
  number    = {7},
  pages     = {1--29},
  year      = {2024},
  publisher = {Springer}
}
% Widely cited PTD source
@article{asmussen1996fitting,
  title     = {Fitting phase-type distributions via the EM algorithm},
  author    = {Asmussen, S{\o}ren and Nerman, Olle and Olsson, Marita},
  journal   = {Scandinavian Journal of Statistics},
  pages     = {419--441},
  year      = {1996},
  publisher = {JSTOR}
}

% Less cited but readable PTD source
@article{okamura2014variational,
  title     = {Variational Bayes for phase-type distribution},
  author    = {Okamura, Hiroyuki and Watanabe, Ryo and Dohi, Tadashi},
  journal   = {Communications in Statistics-Simulation and Computation},
  volume    = {43},
  number    = {8},
  pages     = {2031--2044},
  year      = {2014},
  publisher = {Taylor \& Francis}
}

@article{hornung2013octomap,
  title     = {OctoMap: An efficient probabilistic 3D mapping framework based on octrees},
  author    = {Hornung, Armin and Wurm, Kai M and Bennewitz, Maren and Stachniss, Cyrill and Burgard, Wolfram},
  journal   = {Autonomous robots},
  volume    = {34},
  pages     = {189--206},
  year      = {2013},
  publisher = {Springer}
}

@article{elfes1989using,
  title     = {Using occupancy grids for mobile robot perception and navigation},
  author    = {Elfes, Alberto},
  journal   = {Computer},
  volume    = {22},
  number    = {6},
  pages     = {46--57},
  year      = {1989},
  publisher = {IEEE}
}

@article{wright2021simulating,
  title     = {Simulating Ionising Radiation in {Gazebo} for Robotic Nuclear Inspection Challenges},
  author    = {Wright, Thomas and West, Andrew and Licata, Mauro and Hawes, Nick and Lennox, Barry},
  journal   = {Robotics},
  volume    = {10},
  number    = {3},
  pages     = {86},
  year      = {2021},
  publisher = {Multidisciplinary Digital Publishing Institute}
}
@article{lacerda2019probabilistic,
  title     = {Probabilistic planning with formal performance guarantees for mobile service robots},
  author    = {Lacerda, Bruno and Faruq, Fatma and Parker, David and Hawes, Nick},
  journal   = {The International Journal of Robotics Research},
  volume    = {38},
  number    = {9},
  pages     = {1098--1123},
  year      = {2019},
  publisher = {SAGE Publications Sage UK: London, England}
}

@inproceedings{teichteil2012aaai,
  title     = {Stochastic safest and shortest path problems},
  author    = {Teichteil-K{\"o}nigsbuch, Florent},
  booktitle = {{AAAI}},
  year      = {2012}
}
% Battery charging model
@inproceedings{hoimoja2012ultrafast,
  title        = {An ultrafast EV charging station demonstrator},
  author       = {H{\~o}imoja, Hardi and Rufer, Alfred and Dziechciaruk, Grzegorz and Vezzini, Andrea},
  booktitle    = {International Symposium on Power Electronics, Electrical Drives, Automation and Motion},
  pages        = {1390--1395},
  year         = {2012},
  organization = {IEEE}
}

@techreport{johnson2001temperature,
  title       = {Temperature-dependent battery models for high-power lithium-ion batteries},
  author      = {Johnson, Valerie H and Pesaran, Ahmad A and Sack, Thomas},
  year        = {2001},
  institution = {National Renewable Energy Lab.(NREL), Golden, CO (United States)}
}
@article{turchetta2016safe,
  title   = {Safe exploration in finite {Markov} decision processes with {Gaussian} processes},
  author  = {Turchetta, Matteo and Berkenkamp, Felix and Krause, Andreas},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {29},
  year    = {2016}
}


@inproceedings{moldovan2012safe,
  author    = {Moldovan, Teodor Mihai and Abbeel, Pieter},
  title     = {Safe exploration in {Markov} decision processes},
  year      = {2012},
  isbn      = {9781450312851},
  publisher = {Omnipress},
  address   = {Madison, WI, USA},
  booktitle = {Proceedings of the 29th International Coference on International Conference on Machine Learning},
  pages     = {1451–1458},
  numpages  = {8},
  location  = {Edinburgh, Scotland},
  series    = {ICML'12}
}

@article{feng2016synthesis,
  title     = {Synthesis of human-in-the-loop control protocols for autonomous systems},
  author    = {Feng, Lu and Wiltsche, Clemens and Humphrey, Laura and Topcu, Ufuk},
  journal   = {IEEE Transactions on Automation Science and Engineering},
  volume    = {13},
  number    = {2},
  pages     = {450--462},
  year      = {2016},
  publisher = {IEEE}
}

@article{fern2014decision,
  title   = {A decision-theoretic model of assistance},
  author  = {Fern, Alan and Natarajan, Sriraam and Judah, Kshitij and Tadepalli, Prasad},
  journal = {Journal of Artificial Intelligence Research},
  volume  = {50},
  pages   = {71--104},
  year    = {2014}
}

@inproceedings{binney2012branch,
  title        = {Branch and bound for informative path planning},
  author       = {Binney, Jonathan and Sukhatme, Gaurav S},
  booktitle    = {2012 IEEE International Conference on Robotics and Automation},
  pages        = {2147--2154},
  year         = {2012},
  organization = {IEEE}
}

@article{lim2016adaptive,
  title     = {Adaptive informative path planning in metric spaces},
  author    = {Lim, Zhan Wei and Hsu, David and Lee, Wee Sun},
  journal   = {The International Journal of Robotics Research},
  volume    = {35},
  number    = {5},
  pages     = {585--598},
  year      = {2016},
  publisher = {SAGE Publications Sage UK: London, England}
}

@inproceedings{singh2009nonmyopic,
  author    = {Singh, Amarjeet and Krause, Andreas and Kaiser, William J.},
  title     = {Nonmyopic adaptive informative path planning for multiple robots},
  year      = {2009},
  booktitle = {Proceedings of the 21st International Joint Conference on Artificial Intelligence (IJCAI)},
  pages     = {1843–1850},
  numpages  = {8}
}



@inproceedings{street2020multi,
  title     = {Multi-Robot Planning Under Uncertainty with Congestion-Aware Models},
  author    = {Charlie Street and Bruno Lacerda and Manuel M{\"u}hlig and Nick Hawes},
  booktitle = {Adaptive Agents and Multi-Agent Systems},
  year      = {2020}
}

@inproceedings{claes2017decentralised,
  title     = {Decentralised online planning for multi-robot warehouse commissioning},
  author    = {Claes, Daniel and Oliehoek, Frans and Baier, Hendrik and Tuyls, Karl},
  booktitle = {Proceedings of the 16th Conference on Autonomous Agents and MultiAgent Systems},
  pages     = {492--500},
  year      = {2017}
}

@inproceedings{faruq2018simultaneous,
  title        = {Simultaneous task allocation and planning under uncertainty},
  author       = {Faruq, Fatma and Parker, David and Lacerda, Bruno and Hawes, Nick},
  booktitle    = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {3559--3564},
  year         = {2018},
  organization = {IEEE}
}

@article{heckerman1998tutorial,
  title     = {A tutorial on learning with {Bayesian} networks},
  author    = {Heckerman, David},
  journal   = {Learning in graphical models},
  pages     = {301--354},
  year      = {1998},
  publisher = {Springer}
}

@article{uusitalo2007advantages,
  title     = {Advantages and challenges of {Bayesian} networks in environmental modelling},
  author    = {Uusitalo, Laura},
  journal   = {Ecological modelling},
  volume    = {203},
  number    = {3-4},
  pages     = {312--318},
  year      = {2007},
  publisher = {Elsevier}
}

@article{aguilera2011bayesian,
  title     = {Bayesian networks in environmental modelling},
  author    = {Aguilera, Pedro Aguilera and Fern{\'a}ndez, Antonio and Fern{\'a}ndez, Rosa and Rum{\'\i}, Rafael and Salmer{\'o}n, Antonio},
  journal   = {Environmental Modelling \& Software},
  volume    = {26},
  number    = {12},
  pages     = {1376--1388},
  year      = {2011},
  publisher = {Elsevier}
}

@article{duan2018joint,
  author    = {Leo L. Duan and Xia Wang and John P. Clancy and Rhonda D. Szczesniak},
  doi       = {10.1002/sta4.178},
  issn      = {20491573},
  issue     = {1},
  journal   = {Stat},
  keywords  = {bayesian methods,biostatistics,forecasting,longitudinal data,prediction,regression},
  publisher = {Wiley-Blackwell Publishing Ltd},
  title     = {Joint hierarchical {Gaussian} process model with application to personalized prediction in medical monitoring},
  volume    = {7},
  year      = {2018}
}

@article{thrun2002probabilistic,
  title     = {Probabilistic robotics},
  author    = {Thrun, Sebastian},
  journal   = {Communications of the ACM},
  volume    = {45},
  number    = {3},
  pages     = {52--57},
  year      = {2002},
  publisher = {ACM New York, NY, USA}
}

@book{barfoot2024state,
  title     = {State estimation for robotics},
  author    = {Barfoot, Timothy D},
  year      = {2024},
  publisher = {Cambridge University Press}
}

@article{bellman1957markovian,
  title     = {A {Markovian} decision process},
  author    = {Bellman, Richard},
  journal   = {Journal of mathematics and mechanics},
  pages     = {679--684},
  year      = {1957},
  publisher = {JSTOR}
}

@inproceedings{sunberg2018online,
  title     = {Online algorithms for POMDPs with continuous state, action, and observation spaces},
  author    = {Sunberg, Zachary and Kochenderfer, Mykel},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  volume    = {28},
  pages     = {259--263},
  year      = {2018}
}

% Informative path planning review (recent, 2024)
@article{popovic2024learning,
  title     = {Learning-based methods for adaptive informative path planning},
  author    = {Popovi{\'c}, Marija and Ott, Joshua and R{\"u}ckin, Julius and Kochenderfer, Mykel J},
  journal   = {Robotics and Autonomous Systems},
  pages     = {104727},
  year      = {2024},
  publisher = {Elsevier}
}

@inproceedings{cao2023catnipp,
  title        = {{CAtNIPP}: Context-aware attention-based network for informative path planning},
  author       = {Cao, Yuhong and Wang, Yizhuo and Vashisth, Apoorva and Fan, Haolin and Sartoretti, Guillaume Adrien},
  booktitle    = {Conference on Robot Learning},
  pages        = {1928--1937},
  year         = {2023},
  organization = {PMLR}
}

@article{fernandez2022informative,
  title     = {Informative path planning to estimate quantiles for environmental analysis},
  author    = {Fern{\'a}ndez, Isabel M Rayas and Denniston, Christopher E and Caron, David A and Sukhatme, Gaurav S},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {7},
  number    = {4},
  pages     = {10280--10287},
  year      = {2022},
  publisher = {IEEE}
}

@inproceedings{choudhury2020adaptive,
  title     = {Adaptive informative path planning with multimodal sensing},
  author    = {Choudhury, Shushman and Gruver, Nate and Kochenderfer, Mykel J},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  volume    = {30},
  pages     = {57--65},
  year      = {2020}
}

@article{galceran2013survey,
  title     = {A survey on coverage path planning for robotics},
  author    = {Galceran, Enric and Carreras, Marc},
  journal   = {Robotics and Autonomous systems},
  volume    = {61},
  number    = {12},
  pages     = {1258--1276},
  year      = {2013},
  publisher = {Elsevier}
}

@article{tan2021comprehensive,
  title     = {A comprehensive review of coverage path planning in robotics using classical and heuristic algorithms},
  author    = {Tan, Chee Sheng and Mohd-Mokhtar, Rosmiwati and Arshad, Mohd Rizal},
  journal   = {IEEE Access},
  volume    = {9},
  pages     = {119310--119342},
  year      = {2021},
  publisher = {IEEE}
}

@inproceedings{meliou2007nonmyopic,
  title     = {Nonmyopic informative path planning in spatio-temporal models},
  author    = {Meliou, Alexandra and Krause, Andreas and Guestrin, Carlos and Hellerstein, Joseph M},
  booktitle = {AAAI},
  volume    = {10},
  number    = {4},
  pages     = {16--7},
  year      = {2007}
}

@inproceedings{ruckin2022adaptive,
  title        = {Adaptive informative path planning using deep reinforcement learning for {UAV}-based active sensing},
  author       = {R{\"u}ckin, Julius and Jin, Liren and Popovi{\'c}, Marija},
  booktitle    = {2022 International Conference on Robotics and Automation (ICRA)},
  pages        = {4473--4479},
  year         = {2022},
  organization = {IEEE}
}

@inproceedings{denniston2023fast,
  title        = {Fast and scalable signal inference for active robotic source seeking},
  author       = {Denniston, Christopher E and Peltzer, Oriana and Ott, Joshua and Moon, Sangwoo and Kim, Sung-Kyun and Sukhatme, Gaurav S and Kochenderfer, Mykel J and Schwager, Mac and Agha-mohammadi, Ali-akbar},
  booktitle    = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {7909--7915},
  year         = {2023},
  organization = {IEEE}
}

@incollection{yanes2023deep,
  title     = {Deep reinforcement learning applied to multi-agent informative path planning in environmental missions},
  author    = {Yanes Luis, Samuel and Perales Esteve, Manuel and Guti{\'e}rrez Reina, Daniel and Toral Mar{\'\i}n, Sergio},
  booktitle = {Mobile Robot: Motion Control and Path Planning},
  pages     = {31--61},
  year      = {2023},
  publisher = {Springer}
}

@article{hitz2017adaptive,
  title     = {Adaptive continuous-space informative path planning for online environmental monitoring},
  author    = {Hitz, Gregory and Galceran, Enric and Garneau, Marie-{\`E}ve and Pomerleau, Fran{\c{c}}ois and Siegwart, Roland},
  journal   = {Journal of Field Robotics},
  volume    = {34},
  number    = {8},
  pages     = {1427--1449},
  year      = {2017},
  publisher = {Wiley Online Library}
}

@article{popovic2020informative,
  title     = {An informative path planning framework for {UAV}-based terrain monitoring},
  author    = {Popovi{\'c}, Marija and Vidal-Calleja, Teresa and Hitz, Gregory and Chung, Jen Jen and Sa, Inkyu and Siegwart, Roland and Nieto, Juan},
  journal   = {Autonomous Robots},
  volume    = {44},
  number    = {6},
  pages     = {889--911},
  year      = {2020},
  publisher = {Springer}
}

@article{vivaldini2019uav,
  title     = {UAV route planning for active disease classification},
  author    = {Vivaldini, Kelen CT and Martinelli, Thiago H and Guizilini, Vitor C and Souza, Jefferson R and Oliveira, Matheus D and Ramos, Fabio T and Wolf, Denis F},
  journal   = {Autonomous robots},
  volume    = {43},
  pages     = {1137--1153},
  year      = {2019},
  publisher = {Springer}
}

@article{mildenhall2021nerf,
  title     = {{NeRF}: Representing scenes as neural radiance fields for view synthesis},
  author    = {Mildenhall, Ben and Srinivasan, Pratul P and Tancik, Matthew and Barron, Jonathan T and Ramamoorthi, Ravi and Ng, Ren},
  journal   = {Communications of the ACM},
  volume    = {65},
  number    = {1},
  pages     = {99--106},
  year      = {2021},
  publisher = {ACM New York, NY, USA}
}

@inproceedings{yu2021pixelnerf,
  title     = {pixelNeRF: Neural radiance fields from one or few images},
  author    = {Yu, Alex and Ye, Vickie and Tancik, Matthew and Kanazawa, Angjoo},
  booktitle = {Proceedings of the IEEE/CVF conference on computer vision and pattern recognition},
  pages     = {4578--4587},
  year      = {2021}
}

@inproceedings{denniston2023learned,
  title        = {Learned parameter selection for robotic information gathering},
  author       = {Denniston, Christopher E and Salhotra, Gautam and Kangaslahti, Akseli and Caron, David A and Sukhatme, Gaurav S},
  booktitle    = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {10519--10526},
  year         = {2023},
  organization = {IEEE}
}


@inproceedings{wang2023spatio,
  title        = {Spatio-temporal attention network for persistent monitoring of multiple mobile targets},
  author       = {Wang, Yizhuo and Wang, Yutong and Cao, Yuhong and Sartoretti, Guillaume},
  booktitle    = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {3903--3910},
  year         = {2023},
  organization = {IEEE}
}

@article{hollinger2014sampling,
  title     = {Sampling-based robotic information gathering algorithms},
  author    = {Hollinger, Geoffrey A and Sukhatme, Gaurav S},
  journal   = {The International Journal of Robotics Research},
  volume    = {33},
  number    = {9},
  pages     = {1271--1287},
  year      = {2014},
  publisher = {SAGE Publications Sage UK: London, England}
}

@inproceedings{ott2023sequential,
  title        = {Sequential {Bayesian} optimization for adaptive informative path planning with multimodal sensing},
  author       = {Ott, Joshua and Balaban, Edward and Kochenderfer, Mykel J},
  booktitle    = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {7894--7901},
  year         = {2023},
  organization = {IEEE}
}

@article{choudhury2018data,
  title     = {Data-driven planning via imitation learning},
  author    = {Choudhury, Sanjiban and Bhardwaj, Mohak and Arora, Sankalp and Kapoor, Ashish and Ranade, Gireeja and Scherer, Sebastian and Dey, Debadeepta},
  journal   = {The International Journal of Robotics Research},
  volume    = {37},
  number    = {13-14},
  pages     = {1632--1672},
  year      = {2018},
  publisher = {SAGE Publications Sage UK: London, England}
}

@inproceedings{liu2023learning,
  author    = {Zuxin Liu and Mohit Deshpande and Tony Qi and Ding Zhao and Rajasimman Madhivanan and Arnie Sen},
  title     = {Learning to explore (L2E): Deep reinforcement learning-based autonomous exploration for household robot},
  year      = {2023},
  booktitle = {Robotics: Science and Systems}
}

@inproceedings{bai2017toward,
  title        = {Toward autonomous mapping and exploration for mobile robots through deep supervised learning},
  author       = {Bai, Shi and Chen, Fanfei and Englot, Brendan},
  booktitle    = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {2379--2384},
  year         = {2017},
  organization = {IEEE}
}

@inproceedings{zwecher2022integrating,
  title        = {Integrating deep reinforcement and supervised learning to expedite indoor mapping},
  author       = {Zwecher, Elchanan and Iceland, Eran and Levy, Sean R and Hayoun, Shmuel Y and Gal, Oren and Barel, Ariel},
  booktitle    = {2022 International Conference on Robotics and Automation (ICRA)},
  pages        = {10542--10548},
  year         = {2022},
  organization = {IEEE}
}

@article{caley2019deep,
  title     = {Deep learning of structured environments for robot search},
  author    = {Caley, Jeffrey A and Lawrance, Nicholas RJ and Hollinger, Geoffrey A},
  journal   = {Autonomous Robots},
  volume    = {43},
  pages     = {1695--1714},
  year      = {2019},
  publisher = {Springer}
}

@inproceedings{georgakis2022uncertainty,
  title        = {Uncertainty-driven planner for exploration and navigation},
  author       = {Georgakis, Georgios and Bucher, Bernadette and Arapin, Anton and Schmeckpeper, Karl and Matni, Nikolai and Daniilidis, Kostas},
  booktitle    = {2022 International Conference on Robotics and Automation (ICRA)},
  pages        = {11295--11302},
  year         = {2022},
  organization = {IEEE}
}

@inproceedings{hepp2018learn,
  title     = {Learn-to-score: Efficient 3d scene exploration by predicting view utility},
  author    = {Hepp, Benjamin and Dey, Debadeepta and Sinha, Sudipta N and Kapoor, Ashish and Joshi, Neel and Hilliges, Otmar},
  booktitle = {Proceedings of the European conference on computer vision (ECCV)},
  pages     = {437--452},
  year      = {2018}
}

@book{kochenderfer2022algorithms,
  title     = {Algorithms for decision making},
  author    = {Kochenderfer, Mykel J and Wheeler, Tim A and Wray, Kyle H},
  year      = {2022},
  publisher = {MIT Press}
}

@article{papadimitriou1987complexity,
  title     = {The complexity of {Markov} decision processes},
  author    = {Papadimitriou, Christos H and Tsitsiklis, John N},
  journal   = {Mathematics of operations research},
  volume    = {12},
  number    = {3},
  pages     = {441--450},
  year      = {1987},
  publisher = {INFORMS}
}

@article{lee2007makes,
  title   = {What makes some POMDP problems easy to approximate?},
  author  = {Lee, Wee and Rong, Nan and Hsu, David},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {20},
  year    = {2007}
}

@article{pineau2006anytime,
  author     = {Pineau, Joelle and Gordon, Geoffrey and Thrun, Sebastian},
  title      = {Anytime point-based approximations for large POMDPs},
  year       = {2006},
  issue_date = {September 2006},
  publisher  = {AI Access Foundation},
  address    = {El Segundo, CA, USA},
  volume     = {27},
  number     = {1},
  issn       = {1076-9757},
  journal    = {J. Artif. Int. Res.},
  pages      = {335–380},
  numpages   = {46}
}

% Originator of MCTS
@inproceedings{kocsis2006bandit,
  title        = {Bandit based {Monte-Carlo} planning},
  author       = {Kocsis, Levente and Szepesv{\'a}ri, Csaba},
  booktitle    = {European Conference on Machine Learning},
  pages        = {282--293},
  year         = {2006},
  organization = {Springer}
}

@article{lauri2022partially,
  title     = {Partially observable {Markov} decision processes in robotics: A survey},
  author    = {Lauri, Mikko and Hsu, David and Pajarinen, Joni},
  journal   = {IEEE Transactions on Robotics},
  volume    = {39},
  number    = {1},
  pages     = {21--40},
  year      = {2022},
  publisher = {IEEE}
}

@incollection{littman1995learning,
  title     = {Learning policies for partially observable environments: Scaling up},
  author    = {Littman, Michael L and Cassandra, Anthony R and Kaelbling, Leslie Pack},
  booktitle = {Machine Learning Proceedings 1995},
  pages     = {362--370},
  year      = {1995},
  publisher = {Elsevier}
}

@inproceedings{chaudhari2013sampling,
  title        = {Sampling-based algorithms for continuous-time POMDPs},
  author       = {Chaudhari, Pratik and Karaman, Sertac and Hsu, David and Frazzoli, Emilio},
  booktitle    = {2013 American Control Conference},
  pages        = {4604--4610},
  year         = {2013},
  organization = {IEEE}
}

% POSMDP
@inproceedings{mahadevan1998partially,
  title     = {Partially observable semi-{Markov} decision processes: Theory and applications in engineering and cognitive science},
  author    = {Mahadevan, Sridhar},
  booktitle = {AAAI Fall Symposium on Planning with Partially Observable Markov Decision Processes, Orlando, FL, USA},
  pages     = {113--120},
  year      = {1998}
}

@inproceedings{omidshafiei2015decentralized,
  title        = {Decentralized control of partially observable {Markov} decision processes using belief space macro-actions},
  author       = {Omidshafiei, Shayegan and Agha-Mohammadi, Ali-Akbar and Amato, Christopher and How, Jonathan P},
  booktitle    = {2015 IEEE international conference on robotics and automation (ICRA)},
  pages        = {5962--5969},
  year         = {2015},
  organization = {IEEE}
}

@inproceedings{omidshafiei2016graph,
  title        = {Graph-based cross entropy method for solving multi-robot decentralized POMDPs},
  author       = {Omidshafiei, Shayegan and Agha-Mohammadi, Ali-Akbar and Amato, Christopher and Liu, Shih-Yuan and How, Jonathan P and Vian, John},
  booktitle    = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {5395--5402},
  year         = {2016},
  organization = {IEEE}
}

@article{jakkala2021deep,
  title   = {Deep {Gaussian} processes: A survey},
  author  = {Jakkala, Kalvik},
  journal = {arXiv preprint arXiv:2106.12135},
  year    = {2021}
}

@inproceedings{hensman2013gaussian,
  title     = {Gaussian processes for big data},
  author    = {Hensman, James and Fusi, Nicol{\`o} and Lawrence, Neil D},
  booktitle = {Proceedings of the Twenty-Ninth Conference on Uncertainty in Artificial Intelligence},
  pages     = {282--290},
  year      = {2013}
}

@inproceedings{wachi2018safe,
  title     = {Safe exploration and optimization of constrained mdps using {Gaussian} processes},
  author    = {Wachi, Akifumi and Sui, Yanan and Yue, Yisong and Ono, Masahiro},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence},
  volume    = {32},
  number    = {1},
  year      = {2018}
}

@inproceedings{fink2010online,
  title        = {Online methods for radio signal mapping with mobile robots},
  author       = {Fink, Jonathan and Kumar, Vijay},
  booktitle    = {2010 IEEE International Conference on Robotics and Automation},
  pages        = {1940--1945},
  year         = {2010},
  organization = {IEEE}
}

@article{viseras2019deepig,
  title     = {{DeepIG}: Multi-robot information gathering with deep reinforcement learning},
  author    = {Viseras, Alberto and Garcia, Ricardo},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {4},
  number    = {3},
  pages     = {3059--3066},
  year      = {2019},
  publisher = {IEEE}
}

@inproceedings{marchant2014bayesian,
  author    = {Marchant, Roman and Ramos, Fabio},
  booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
  title     = {Bayesian Optimisation for informative continuous path planning},
  year      = {2014},
  volume    = {},
  number    = {},
  pages     = {6136-6143},
  keywords  = {Optimization;Robot sensing systems;Mathematical model;Monitoring;Bayes methods;Gases},
  doi       = {10.1109/ICRA.2014.6907763}
}

@article{quinonero2005unifying,
  title     = {A unifying view of sparse approximate {Gaussian} process regression},
  author    = {Quinonero-Candela, Joaquin and Rasmussen, Carl Edward},
  journal   = {The Journal of Machine Learning Research},
  volume    = {6},
  pages     = {1939--1959},
  year      = {2005},
  publisher = {JMLR. org}
}

@inproceedings{wilson2016deep,
  title        = {Deep kernel learning},
  author       = {Wilson, Andrew Gordon and Hu, Zhiting and Salakhutdinov, Ruslan and Xing, Eric P},
  booktitle    = {Artificial intelligence and statistics},
  pages        = {370--378},
  year         = {2016},
  organization = {PMLR}
}

@inproceedings{damianou2013deep,
  title        = {Deep {Gaussian} processes},
  author       = {Damianou, Andreas and Lawrence, Neil D},
  booktitle    = {Artificial intelligence and statistics},
  pages        = {207--215},
  year         = {2013},
  organization = {PMLR}
}

@article{salimbeni2017doubly,
  title   = {Doubly stochastic variational inference for deep {Gaussian} processes},
  author  = {Salimbeni, Hugh and Deisenroth, Marc},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {30},
  year    = {2017}
}

@article{havasi2018inference,
  title   = {Inference in deep {Gaussian} processes using stochastic gradient {Hamiltonian Monte Carlo}},
  author  = {Havasi, Marton and Hern{\'a}ndez-Lobato, Jos{\'e} Miguel and Murillo-Fuentes, Juan Jos{\'e}},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {31},
  year    = {2018}
}

@article{liu2020gaussian,
  title     = {When {Gaussian} process meets big data: A review of scalable GPs},
  author    = {Liu, Haitao and Ong, Yew-Soon and Shen, Xiaobo and Cai, Jianfei},
  journal   = {IEEE transactions on neural networks and learning systems},
  volume    = {31},
  number    = {11},
  pages     = {4405--4423},
  year      = {2020},
  publisher = {IEEE}
}

@article{bauer2016understanding,
  title   = {Understanding probabilistic sparse {Gaussian} process approximations},
  author  = {Bauer, Matthias and Van der Wilk, Mark and Rasmussen, Carl Edward},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {29},
  year    = {2016}
}

@article{dietterich2000hierarchical,
  title   = {Hierarchical reinforcement learning with the {MAXQ} value function decomposition},
  author  = {Dietterich, Thomas G},
  journal = {Journal of artificial intelligence research},
  volume  = {13},
  pages   = {227--303},
  year    = {2000}
}

@inproceedings{diuk2006hierarchical,
  title     = {A hierarchical approach to efficient reinforcement learning in deterministic domains},
  author    = {Diuk, Carlos and Strehl, Alexander L and Littman, Michael L},
  booktitle = {Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems},
  pages     = {313--319},
  year      = {2006}
}

@inproceedings{hogg2009learning,
  title     = {Learning hierarchical task networks for nondeterministic planning domains},
  author    = {Hogg, Chad and Kuter, Ugur and Munoz-Avila, H{\'e}ctor},
  booktitle = {Twenty-First International Joint Conference on Artificial Intelligence},
  year      = {2009}
}

@article{krause2008near,
  title   = {Near-optimal sensor placements in {Gaussian} processes: Theory, efficient algorithms and empirical studies.},
  author  = {Krause, Andreas and Singh, Ajit and Guestrin, Carlos},
  journal = {Journal of Machine Learning Research},
  volume  = {9},
  number  = {2},
  year    = {2008}
}

@inproceedings{liu2020monitoring,
  title        = {Monitoring over the long term: Intermittent deployment and sensing strategies for multi-robot teams},
  author       = {Liu, Jun and Williams, Ryan K},
  booktitle    = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {7733--7739},
  year         = {2020},
  organization = {IEEE}
}

@article{ma2018data,
  title     = {Data-driven learning and planning for environmental sampling},
  author    = {Ma, Kai-Chieh and Liu, Lantao and Heidarsson, Hordur K and Sukhatme, Gaurav S},
  journal   = {Journal of Field Robotics},
  volume    = {35},
  number    = {5},
  pages     = {643--661},
  year      = {2018},
  publisher = {Wiley Online Library}
}

@article{nguyen2015information,
  title     = {Information-driven adaptive sampling strategy for mobile robotic wireless sensor network},
  author    = {Nguyen, Linh V and Kodagoda, Sarath and Ranasinghe, Ravindra and Dissanayake, Gamini},
  journal   = {IEEE Transactions on Control Systems Technology},
  volume    = {24},
  number    = {1},
  pages     = {372--379},
  year      = {2015},
  publisher = {IEEE}
}

@inproceedings{low2008adaptive,
  title     = {Adaptive multi-robot wide-area exploration and mapping},
  author    = {Low, Kian Hsiang and Dolan, John M and Khosla, Pradeep},
  booktitle = {Proceedings of the 7th International Joint Conference on Autonomous agents and Multiagent systems-Volume 1},
  pages     = {23--30},
  year      = {2008}
}

@article{kantaros2021sampling,
  title     = {Sampling-based planning for non-myopic multi-robot information gathering},
  author    = {Kantaros, Yiannis and Schlotfeldt, Brent and Atanasov, Nikolay and Pappas, George J},
  journal   = {Autonomous Robots},
  volume    = {45},
  number    = {7},
  pages     = {1029--1046},
  year      = {2021},
  publisher = {Springer}
}

@article{suryan2020learning,
  title     = {Learning a spatial field in minimum time with a team of robots},
  author    = {Suryan, Varun and Tokekar, Pratap},
  journal   = {IEEE Transactions on Robotics},
  volume    = {36},
  number    = {5},
  pages     = {1562--1576},
  year      = {2020},
  publisher = {IEEE}
}

@inproceedings{lan2013planning,
  title        = {Planning periodic persistent monitoring trajectories for sensing robots in {Gaussian} random fields},
  author       = {Lan, Xiaodong and Schwager, Mac},
  booktitle    = {2013 IEEE international conference on robotics and automation},
  pages        = {2415--2420},
  year         = {2013},
  organization = {IEEE}
}

@article{pinto2020multi,
  title     = {Multi-agent infinite horizon persistent monitoring of targets with uncertain states in multi-dimensional environments},
  author    = {Pinto, Samuel C and Andersson, Sean B and Hendrickx, Julien M and Cassandras, Christos G},
  journal   = {IFAC-PapersOnLine},
  volume    = {53},
  number    = {2},
  pages     = {10963--10968},
  year      = {2020},
  publisher = {Elsevier}
}

@inproceedings{jones2015information,
  title        = {Information-guided persistent monitoring under temporal logic constraints},
  author       = {Jones, Austin and Schwager, Mac and Belta, Calin},
  booktitle    = {2015 American Control Conference (ACC)},
  pages        = {1911--1916},
  year         = {2015},
  organization = {IEEE}
}

@article{yu2016correlated,
  title     = {Correlated orienteering problem and its application to persistent monitoring tasks},
  author    = {Yu, Jingjin and Schwager, Mac and Rus, Daniela},
  journal   = {IEEE Transactions on Robotics},
  volume    = {32},
  number    = {5},
  pages     = {1106--1118},
  year      = {2016},
  publisher = {IEEE}
}

@inproceedings{yu2015anytime,
  title        = {Anytime planning of optimal schedules for a mobile sensing robot},
  author       = {Yu, Jingjin and Aslam, Javed and Karaman, Sertac and Rus, Daniela},
  booktitle    = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {5279--5286},
  year         = {2015},
  organization = {IEEE}
}

@article{vansteenwegen2011orienteering,
  title     = {The orienteering problem: A survey},
  author    = {Vansteenwegen, Pieter and Souffriau, Wouter and Van Oudheusden, Dirk},
  journal   = {European Journal of Operational Research},
  volume    = {209},
  number    = {1},
  pages     = {1--10},
  year      = {2011},
  publisher = {Elsevier}
}

@article{sung2023survey,
  title     = {A Survey of Decision-Theoretic Approaches for Robotic Environmental Monitoring},
  author    = {Sung, Yoonchang and Chen, Zhiang and Das, Jnaneshwar and Tokekar, Pratap and others},
  journal   = {Foundations and Trends{\textregistered} in Robotics},
  volume    = {11},
  number    = {4},
  pages     = {225--315},
  year      = {2023},
  publisher = {Now Publishers, Inc.}
}

@article{ono2015chance,
  title     = {Chance-constrained dynamic programming with application to risk-aware robotic space exploration},
  author    = {Ono, Masahiro and Pavone, Marco and Kuwata, Yoshiaki and Balaram, J},
  journal   = {Autonomous Robots},
  volume    = {39},
  pages     = {555--571},
  year      = {2015},
  publisher = {Springer}
}

@article{handler1980dual,
  title     = {A dual algorithm for the constrained shortest path problem},
  author    = {Handler, Gabriel Y and Zang, Israel},
  journal   = {Networks},
  volume    = {10},
  number    = {4},
  pages     = {293--309},
  year      = {1980},
  publisher = {Wiley Online Library}
}

@inproceedings{storandt2012quick,
  title     = {Quick and energy-efficient routes: computing constrained shortest paths for electric vehicles},
  author    = {Storandt, Sabine},
  booktitle = {Proceedings of the 5th ACM SIGSPATIAL international workshop on computational transportation science},
  pages     = {20--25},
  year      = {2012}
}

@article{pourazarm2017optimal,
  title     = {Optimal routing of energy-aware vehicles in transportation networks with inhomogeneous charging nodes},
  author    = {Pourazarm, Sepideh and Cassandras, Christos G},
  journal   = {IEEE Transactions on Intelligent Transportation Systems},
  volume    = {19},
  number    = {8},
  pages     = {2515--2527},
  year      = {2017},
  publisher = {IEEE}
}

@article{kucukoglu2021electric,
  title     = {The electric vehicle routing problem and its variations: A literature review},
  author    = {Kucukoglu, Ilker and Dewil, Reginald and Cattrysse, Dirk},
  journal   = {Computers \& Industrial Engineering},
  volume    = {161},
  pages     = {107650},
  year      = {2021},
  publisher = {Elsevier}
}

@book{altman2021constrained,
  title     = {Constrained Markov decision processes},
  author    = {Altman, Eitan},
  year      = {2021},
  publisher = {Routledge}
}

@inproceedings{isom2008piecewise,
  title     = {Piecewise Linear Dynamic Programming for Constrained POMDPs.},
  author    = {Isom, Joshua D and Meyn, Sean P and Braatz, Richard D},
  booktitle = {AAAI},
  volume    = {1},
  pages     = {291--296},
  year      = {2008}
}

@article{lee2018monte,
  title   = {{Monte-Carlo} tree search for constrained {POMDPs}},
  author  = {Lee, Jongmin and Kim, Geon-Hyeong and Poupart, Pascal and Kim, Kee-Eung},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {31},
  year    = {2018}
}

@article{lam2014electric,
  title     = {Electric vehicle charging station placement: Formulation, complexity, and solutions},
  author    = {Lam, Albert YS and Leung, Yiu-Wing and Chu, Xiaowen},
  journal   = {IEEE Transactions on Smart Grid},
  volume    = {5},
  number    = {6},
  pages     = {2846--2856},
  year      = {2014},
  publisher = {IEEE}
}

@article{cui2019electric,
  title     = {Electric vehicle charging station placement method for urban areas},
  author    = {Cui, Qiushi and Weng, Yang and Tan, Chin-Woo},
  journal   = {IEEE Transactions on Smart Grid},
  volume    = {10},
  number    = {6},
  pages     = {6552--6565},
  year      = {2019},
  publisher = {IEEE}
}

@inproceedings{kundu2018charging,
  title        = {Charging station placement for indoor robotic applications},
  author       = {Kundu, Tanmoy and Saha, Indranil},
  booktitle    = {2018 IEEE international conference on robotics and automation (ICRA)},
  pages        = {3029--3036},
  year         = {2018},
  organization = {IEEE}
}

@article{ayton2018vulcan,
  title   = {Vulcan: a {Monte Carlo} algorithm for large chance constrained {MDPs} with risk bounding functions},
  author  = {Ayton, Benjamin J and Williams, Brian C},
  journal = {arXiv preprint arXiv:1809.01220},
  year    = {2018}
}

@inproceedings{eiffert2020hierarchical,
  title        = {A hierarchical framework for long-term and robust deployment of field ground robots in large-scale farming},
  author       = {Eiffert, Stuart and Wallace, Nathan D and Kong, He and Pirmarzdashti, Navid and Sukkarieh, Salah},
  booktitle    = {2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)},
  pages        = {948--954},
  year         = {2020},
  organization = {IEEE}
}

@article{ho2019value,
  title     = {The value of abstraction},
  author    = {Ho, Mark K and Abel, David and Griffiths, Thomas L and Littman, Michael L},
  journal   = {Current opinion in behavioral sciences},
  volume    = {29},
  pages     = {111--116},
  year      = {2019},
  publisher = {Elsevier}
}

@article{kaplan2015coral,
  title   = {Coral reef species assemblages are associated with ambient soundscapes},
  author  = {Kaplan, Maxwell B and Mooney, T Aran and Partan, Jim and Solow, Andrew R},
  journal = {Marine Ecology Progress Series},
  volume  = {533},
  pages   = {93--107},
  year    = {2015}
}

@inproceedings{yamauchi1998frontier,
  title     = {Frontier-based exploration using multiple robots},
  author    = {Yamauchi, Brian},
  booktitle = {{Proceedings of the second international conference on Autonomous agents}},
  pages     = {47--53},
  year      = {1998}
}

@inproceedings{yamauchi1998mobile,
  author    = {B. Yamauchi and A. Schultz and W. Adams},
  doi       = {10.1109/ROBOT.1998.681416},
  isbn      = {078034300X},
  issn      = {10504729},
  journal   = {Proceedings - IEEE International Conference on Robotics and Automation},
  pages     = {3715-3720},
  publisher = {Institute of Electrical and Electronics Engineers Inc.},
  title     = {Mobile robot exploration and map-building with continuous localization},
  volume    = {4},
  year      = {1998}
}


@inproceedings{freda2005frontier,
  title        = {Frontier-based probabilistic strategies for sensor-based exploration},
  author       = {Freda, Luigi and Oriolo, Giuseppe},
  booktitle    = {Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  pages        = {3881--3887},
  year         = {2005},
  organization = {IEEE}
}


@article{morrell2022nebula,
  title   = {{NeBula: Team CoSTAR’s} robotic autonomy solution that won {Phase II of DARPA Subterranean Challenge}},
  author  = {Morrell, Benjamin and Thakker, Rohan and Santamaria Navarro, {\`A}ngel and Bouman, Amanda and Lei, Xiaoming and Edlund, Jeffrey and Pailevanian, Torkom and Vaquero, Tiago Stegun and Chang, Yun Lin and Touma, Thomas and others},
  journal = {Field robotics},
  volume  = {2},
  pages   = {1432--1506},
  year    = {2022}
}

@inproceedings{cao2021exploring,
  title        = {Exploring large and complex environments fast and efficiently},
  author       = {Cao, Chao and Zhu, Hongbiao and Choset, Howie and Zhang, Ji},
  booktitle    = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {7781--7787},
  year         = {2021},
  organization = {IEEE}
}

@inproceedings{williams2020online,
  title        = {Online {3D} frontier-based {UGV} and {UAV} exploration using direct point cloud visibility},
  author       = {Williams, Jason and Jiang, Shu and O’Brien, Matthew and Wagner, Glenn and Hernandez, Emili and Cox, Mark and Pitt, Alex and Arkin, Ron and Hudson, Nicolas},
  booktitle    = {{IEEE} International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
  pages        = {263--270},
  year         = {2020},
  organization = {IEEE}
}

@inproceedings{bayer2019autonomous,
  title        = {On autonomous spatial exploration with small hexapod walking robot using tracking camera {Intel RealSense T265}},
  author       = {Bayer, Jan and Faigl, Jan},
  booktitle    = {2019 {European} Conference on Mobile Robots (ECMR)},
  year         = {2019},
  organization = {IEEE}
}

@article{verma2023autonomous,
  title     = {Autonomous robotics is driving {Perseverance} rover’s progress on {Mars}},
  author    = {Verma, Vandi and Maimone, Mark W and Gaines, Daniel M and Francis, Raymond and Estlin, Tara A and Kuhn, Stephen R and Rabideau, Gregg R and Chien, Steve A and McHenry, Michael M and Graser, Evan J and others},
  journal   = {Science Robotics},
  volume    = {8},
  number    = {80},
  pages     = {eadi3099},
  year      = {2023},
  publisher = {American Association for the Advancement of Science}
}

@inproceedings{bresina2005activity,
  title     = {Activity Planning for the Mars Exploration Rovers.},
  author    = {Bresina, John L and J{\'o}nsson, Ari K and Morris, Paul H and Rajan, Kanna and others},
  booktitle = {ICAPS},
  volume    = {2005},
  pages     = {40--49},
  year      = {2005}
}

@article{dang2020graph,
  author   = {Tung Dang and Marco Tranzatto and Shehryar Khattak and Frank Mascarich and Kostas Alexis and Marco Hutter},
  issue    = {8},
  journal  = {Journal of Field Robotics},
  keywords = {aerial robots,legged robots,path planning,subterranean robotics},
  pages    = {1363-1388},
  title    = {Graph-based subterranean exploration path planning using aerial and legged robots},
  volume   = {37},
  year     = {2020}
}

# Frontier-based exploration, considers information gain along paths, step up from most previous (more myopic) approaches
@inproceedings{dang2019explore,
  title        = {Explore locally, plan globally: A path planning framework for autonomous robotic exploration in subterranean environments},
  author       = {Dang, Tung and Khattak, Shehryar and Mascarich, Frank and Alexis, Kostas},
  booktitle    = {2019 19th International Conference on Advanced Robotics (ICAR)},
  pages        = {9--16},
  year         = {2019},
  organization = {IEEE}
}

@article{rouvcek2021system,
  title   = {{System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge}},
  author  = {Rou\v{c}ek, Tom\'{a}\v{s} and Pecka, Martin and \v{C}\'{i}\v{z}ek, Petr and Pet\v{r}\'{i}\v{c}ek, Tom\'{a}\v{s} and Bayer, Jan and \v{S}alansk\'{y}, Vojt\v{e}ch and Azayev, Teymur and He\v{r}t, Daniel and Petrl\'{i}k, Mat\v{e}j and B\'{a}\v{c}a, Tom\'{a}\v{s} and Spurn\'{y}, Vojt\v{e}ch and Kr\'{a}tk\'{y}, V\'{i}t and Petr\'{a}\v{c}ek, Pavel and Baril, Dominic and Vaidis, Maxime and Kubelka, Vladim\'{i}r and Pomerleau, Fran\c{c}ois and Faigl, Jan and Zimmermann, Karel and Saska, Martin and Svoboda, Tom\'{a}\v{s} and Krajn\'{i}k, Tom\'{a}\v{s}},
  journal = {Journal of Field Robotics},
  volume  = {2},
  year    = {2022}
}

@article{tranzatto2022team,
  title     = {Team {CERBERUS} Wins the {DARPA Subterranean Challenge}: Technical Overview and Lessons Learned},
  author    = {Tranzatto, Marco and Dharmadhikari, Mihir and Bernreiter, Lukas and Camurri, Marco and Khattak, Shehryar Masaud Khan and Mascarich, Frank and Pfreundschuh, Patrick and Wisth, David and Zimmermann, Samuel and Kulkarni, Mihir and others},
  year      = {2022},
  publisher = {ETH Zurich}
}

@article{hudson2022heterogeneous,
  title   = {Heterogeneous Ground and Air Platforms, Homogeneous Sensing: {Team CSIRO Data61’s} Approach to the {DARPA Subterranean Challenge}},
  author  = {Hudson, Nicolas and Talbot, Fletcher and Cox, Mark and Williams, Jason and Hines, Thomas and Pitt, Alex and Wood, Brett and Frousheger, Dennis and Lo Surdo, Katrina and Molnar, Thomas and others and Arkin, Ronald C.},
  journal = {Journal of Field Robotics},
  volume  = {2},
  year    = {2022}
}

@article{scherer2022resilient,
  title   = {Resilient and modular subterranean exploration with a team of roving and flying robots},
  author  = {Scherer, Sebastian and Agrawal, Vasu and Best, Graeme and Cao, Chao and Cujic, Katarina and Darnley, R and DeBortoli, R and Dexheimer, E and Drozd, B and Garg, R and others and Travers,Matthew},
  journal = {Journal of Field Robotics},
  volume  = {2},
  year    = {2022}
}

@inproceedings{chen2022multi,
  title        = {Multi-modal User Interface for Multi-robot Control in Underground Environments},
  author       = {Chen, Shengkang and O'Brien, Matthew J and Talbot, Fletcher and Williams, Jason and Tidd, Brendan and Pitt, Alex and Arkin, Ronald C},
  booktitle    = {{2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
  pages        = {9995--10002},
  year         = {2022},
  organization = {IEEE}
}

@inproceedings{sui2015safe,
  title        = {Safe exploration for optimization with {Gaussian} processes},
  author       = {Sui, Yanan and Gotovos, Alkis and Burdick, Joel and Krause, Andreas},
  booktitle    = {International conference on machine learning},
  pages        = {997--1005},
  year         = {2015},
  organization = {PMLR}
}
@inproceedings{sui2018stagewise,
  title        = {Stagewise safe {Bayesian} optimization with {Gaussian} processes},
  author       = {Sui, Yanan and Zhuang, Vincent and Burdick, Joel and Yue, Yisong},
  _booktitle   = {International conference on machine learning},
  booktitle    = {{ICML}},
  _pages       = {4781--4789},
  year         = {2018},
  organization = {PMLR}
}

@inproceedings{pecka2014safe,
  title        = {Safe exploration techniques for reinforcement learning--an overview},
  author       = {Pecka, Martin and Svoboda, Tomas},
  booktitle    = {Modelling and Simulation for Autonomous Systems: First International Workshop, MESAS 2014, Rome, Italy, May 5-6, 2014, Revised Selected Papers 1},
  pages        = {357--375},
  year         = {2014},
  organization = {Springer}
}

@article{garcia2015comprehensive,
  title   = {A comprehensive survey on safe reinforcement learning},
  author  = {Garc{\i}a, Javier and Fern{\'a}ndez, Fernando},
  journal = {Journal of Machine Learning Research},
  volume  = {16},
  number  = {1},
  pages   = {1437--1480},
  year    = {2015}
}

@article{bottero2022information,
  title   = {Information-theoretic safe exploration with Gaussian processes},
  author  = {Bottero, Alessandro and Luis, Carlos and Vinogradska, Julia and Berkenkamp, Felix and Peters, Jan R},
  journal = {{Advances in Neural Information Processing Systems (NeurIPS)}},
  volume  = {35},
  pages   = {30707--30719},
  year    = {2022}
}

@inproceedings{rutherford2021motion,
  title        = {Motion Planning in Uncertain Environments with Rapidly-Exploring Random {Markov} decision processes},
  author       = {Rutherford, Alex and Duckworth, Paul and Hawes, Nick and Lacerda, Bruno},
  booktitle    = {2021 {European} Conference on Mobile Robots ({ECMR})},
  year         = {2021},
  organization = {IEEE}
}

@article{badings2022sampling,
  title     = {Sampling-based robust control of autonomous systems with non-{G}aussian noise},
  author    = {Badings, Thom S and Abate, Alessandro and Jansen, Nils and Parker, David and Poonawala, Hasan A and Stoelinga, Marielle},
  year      = {2022},
  booktitle = {{AAAI}}
}

@book{cormen2022introduction,
  title     = {Introduction to Algorithms},
  author    = {Cormen, Thomas H and Leiserson, Charles E and Rivest, Ronald L and Stein, Clifford},
  year      = {2022},
  publisher = {MIT Press}
}

% Better EV source
@article{fu2019targeted,
  title     = {Targeted optimal-path problem for electric vehicles with connected charging stations},
  author    = {Fu, Fengjie and Dong, Hongzhao},
  journal   = {Plos one},
  volume    = {14},
  number    = {8},
  pages     = {e0220361},
  year      = {2019},
  publisher = {Public Library of Science San Francisco, CA USA}
}

% Efficient EV operating regime
@article{jin2022development,
  title     = {Development of charging/discharging scheduling algorithm for economical and energy-efficient operation of multi-EV charging station},
  author    = {Jin, Hojun and Lee, Sangkeum and Nengroo, Sarvar Hussain and Har, Dongsoo},
  journal   = {Applied Sciences},
  volume    = {12},
  number    = {9},
  pages     = {4786},
  year      = {2022},
  publisher = {MDPI}
}

@inproceedings{eisentraut2010probabilistic,
  title        = {On probabilistic automata in continuous time},
  author       = {Eisentraut, Christian and Hermanns, Holger and Zhang, Lijun},
  booktitle    = {2010 25th Annual IEEE Symposium on Logic in Computer Science},
  pages        = {342--351},
  year         = {2010},
  organization = {IEEE}
}

@inproceedings{mansouri2019multi,
  title        = {Multi-robot planning under uncertain travel times and safety constraints},
  author       = {Mansouri, Masoumeh and Lacerda, Bruno and Hawes, Nick and Pecora, Federico},
  booktitle    = {International Joint Conferences on Artificial Intelligence},
  year         = {2019},
  organization = {International Joint Conferences on Artificial Intelligence Organization}
}

@inproceedings{azevedo2020long,
  title        = {Long-run multi-robot planning under uncertain action durations for persistent tasks},
  author       = {Azevedo, Carlos and Lacerda, Bruno and Hawes, Nick and Lima, Pedro},
  booktitle    = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {4323--4328},
  year         = {2020},
  organization = {IEEE}
}

% chi-squared action duration models
@inproceedings{ziparo2010probabilistic,
  title        = {A probabilistic action duration model for plan selection and monitoring},
  author       = {Ziparo, Vittorio A and Iocchi, Luca and Leonetti, Matteo and Nardi, Daniele},
  booktitle    = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages        = {4716--4721},
  year         = {2010},
  organization = {IEEE}
}

@article{frank1969shortest,
  title     = {Shortest paths in probabilistic graphs},
  author    = {Frank, Harary},
  journal   = {operations research},
  volume    = {17},
  number    = {4},
  pages     = {583--599},
  year      = {1969},
  publisher = {INFORMS}
}

% Gaussian action durations
@article{cielniak2018discrete,
  title     = {Discrete Event Simulations for Scalability Analysis of Robotic In-Field Logistics in Agriculture -- A Case Study},
  author    = {Cielniak, Grzegorz and Das, Gautham and From, Pal and Hanheide, Marc},
  year      = {2018},
  publisher = {University of Lincoln}
}

@article{ebrahimi2009use,
  title     = {On the use of Phase-Type distributions for modelling general distributed events in manufacturing systems},
  author    = {Ebrahimi Azarbayejan, Dariush},
  year      = {2009},
  publisher = {Politecnico di Milano}
}

% PTDs: inverse CDF of hypoexponential
@article{legros2015linear,
  title     = {A linear algebraic approach for the computation of sums of Erlang random variables},
  author    = {Legros, Benjamin and Jouini, Oualid},
  journal   = {Applied Mathematical Modelling},
  volume    = {39},
  number    = {16},
  pages     = {4971--4977},
  year      = {2015},
  publisher = {Elsevier}
}

@article{thummler2006novel,
  title     = {A novel approach for phase-type fitting with the EM algorithm},
  author    = {Thummler, Axel and Buchholz, Peter and Telek, Miklos},
  journal   = {IEEE Transactions on dependable and secure computing},
  volume    = {3},
  number    = {3},
  pages     = {245--258},
  year      = {2006},
  publisher = {IEEE}
}

% CC-MDPs
@article{delage2010percentile,
  title     = {Percentile optimization for Markov decision processes with parameter uncertainty},
  author    = {Delage, Erick and Mannor, Shie},
  journal   = {Operations research},
  volume    = {58},
  number    = {1},
  pages     = {203--213},
  year      = {2010},
  publisher = {INFORMS}
}

@misc{gpy2014,
  author       = {{GPy}},
  title        = {{GPy}: A {Gaussian} process framework in {Python}},
  howpublished = {\url{http://github.com/SheffieldML/GPy}},
  year         = {since 2012}
}


@misc{usgs2020,
  author       = {{US Geological Survey}},
  title        = {{ESRI World Imagery}},
  year         = {2020},
  howpublished = {\url{https://earthexplorer.usgs.gov/}},
  note         = {Accessed: 2024-10-02}
}
https://www.arcgis.com/apps/mapviewer/index.html?layers=10df2279f9684e4a9f6a7f08febac2a9

@article{snelson2003warped,
  title   = {Warped {G}aussian processes},
  author  = {Snelson, Edward and Ghahramani, Zoubin and Rasmussen, Carl},
  journal = {{{Advances in Neural Information Processing Systems (NeurIPS)} (NeurIPS)}},
  volume  = {16},
  year    = {2003}
}

@inproceedings{kwiatkowska2011prism,
  title        = {PRISM 4.0: Verification of probabilistic real-time systems},
  author       = {Kwiatkowska, Marta and Norman, Gethin and Parker, David},
  booktitle    = {Computer Aided Verification: 23rd International Conference, CAV 2011, Snowbird, UT, USA, July 14-20, 2011. Proceedings 23},
  pages        = {585--591},
  year         = {2011},
  organization = {Springer}
}

@article{cong2021underwater,
  title     = {Underwater robot sensing technology: A survey},
  author    = {Cong, Yang and Gu, Changjun and Zhang, Tao and Gao, Yajun},
  journal   = {Fundamental Research},
  volume    = {1},
  number    = {3},
  pages     = {337--345},
  year      = {2021},
  publisher = {Elsevier}
}

  @article{oliveira2021advances,
  title     = {Advances in forest robotics: A state-of-the-art survey},
  author    = {Oliveira, Luiz FP and Moreira, Ant{\'o}nio P and Silva, Manuel F},
  journal   = {Robotics},
  volume    = {10},
  number    = {2},
  pages     = {53},
  year      = {2021},
  publisher = {MDPI}
}

% Continuously operating aquatic UAV for lake monitoring
@article{peloquin2016design,
  title     = {Design of a passive vertical takeoff and landing aquatic {UAV}},
  author    = {Peloquin, Richard-Alexandre and Thibault, Dominik and Desbiens, Alexis Lussier},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {2},
  number    = {2},
  pages     = {381--388},
  year      = {2016},
  publisher = {IEEE}
}

@article{botta2022review,
  title     = {A review of robots, perception, and tasks in precision agriculture},
  author    = {Botta, Andrea and Cavallone, Paride and Baglieri, Lorenzo and Colucci, Giovanni and Tagliavini, Luigi and Quaglia, Giuseppe},
  journal   = {Applied Mechanics},
  volume    = {3},
  number    = {3},
  pages     = {830--854},
  year      = {2022},
  publisher = {MDPI}
}

@article{griffith2017survey,
  title     = {Survey registration for long-term natural environment monitoring},
  author    = {Griffith, Shane and Pradalier, C{\'e}dric},
  journal   = {Journal of Field Robotics},
  volume    = {34},
  number    = {1},
  pages     = {188--208},
  year      = {2017},
  publisher = {Wiley Online Library}
}

@inproceedings{afghah2019wildfire,
  title        = {Wildfire monitoring in remote areas using autonomous unmanned aerial vehicles},
  author       = {Afghah, Fatemeh and Razi, Abolfazl and Chakareski, Jacob and Ashdown, Jonathan},
  booktitle    = {IEEE INFOCOM 2019-IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS)},
  pages        = {835--840},
  year         = {2019},
  organization = {IEEE}
}

@article{bailon2022real,
  title     = {Real-time wildfire monitoring with a fleet of {UAVs}},
  author    = {Bailon-Ruiz, Rafael and Bit-Monnot, Arthur and Lacroix, Simon},
  journal   = {Robotics and Autonomous Systems},
  volume    = {152},
  pages     = {104071},
  year      = {2022},
  publisher = {Elsevier}
}

@article{dunbabin2012robots,
  title     = {Robots for environmental monitoring: Significant advancements and applications},
  author    = {Dunbabin, Matthew and Marques, Lino},
  journal   = {IEEE Robotics \& Automation Magazine},
  volume    = {19},
  number    = {1},
  pages     = {24--39},
  year      = {2012},
  publisher = {IEEE}
}

@article{muscato2012volcanic,
  title     = {Volcanic environments: Robots for exploration and measurement},
  author    = {Muscato, Giovanni and Bonaccorso, Filippo and Cantelli, Luciano and Longo, Domenico and Melita, C Donato},
  journal   = {IEEE Robotics \& Automation Magazine},
  volume    = {19},
  number    = {1},
  pages     = {40--49},
  year      = {2012},
  publisher = {IEEE}
}

% UAV docking
@article{grlj2022decade,
  title     = {A decade of {UAV} docking stations: A brief overview of mobile and fixed landing platforms},
  author    = {Grlj, Carlo Giorgio and Krznar, Nino and Pranji{\'c}, Marko},
  journal   = {Drones},
  volume    = {6},
  number    = {1},
  pages     = {17},
  year      = {2022},
  publisher = {MDPI}
}

# Underwater docking
@article{yazdani2020survey,
  title     = {A survey of underwater docking guidance systems},
  author    = {Yazdani, Amir Mehdi and Sammut, Karl and Yakimenko, Oleg and Lammas, Andrew},
  journal   = {Robotics and Autonomous systems},
  volume    = {124},
  pages     = {103382},
  year      = {2020},
  publisher = {Elsevier}
}

% Ground vehicle docking
@article{liu2022laser,
  title     = {A laser intensity based autonomous docking approach for mobile robot recharging in unstructured environments},
  author    = {Liu, Yugang},
  journal   = {IEEE Access},
  volume    = {10},
  pages     = {71165--71176},
  year      = {2022},
  publisher = {IEEE}
}

@article{kunze2018artificial,
  title     = {Artificial intelligence for long-term robot autonomy: A survey},
  author    = {Kunze, Lars and Hawes, Nick and Duckett, Tom and Hanheide, Marc and Krajn{\'\i}k, Tom{\'a}{\v{s}}},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {3},
  number    = {4},
  pages     = {4023--4030},
  year      = {2018},
  publisher = {IEEE}
}

@article{testor2019oceangliders,
  title     = {{OceanGliders}: a component of the integrated {GOOS}},
  author    = {Testor, Pierre and De Young, Brad and Rudnick, Daniel L and Glenn, Scott and Hayes, Daniel and Lee, Craig M and Pattiaratchi, Charitha and Hill, Katherine and Heslop, Emma and Turpin, Victor and others},
  journal   = {Frontiers in Marine Science},
  volume    = {6},
  pages     = {422},
  year      = {2019},
  publisher = {Frontiers Media SA}
}

@article{mateja2023energy,
  title     = {Energy autonomy simulation model of solar powered {UAV}},
  author    = {Mateja, Krzysztof and Skarka, Wojciech and Peciak, Magdalena and Niestr{\'o}j, Roman and Gude, Maik},
  journal   = {Energies},
  volume    = {16},
  number    = {1},
  pages     = {479},
  year      = {2023},
  publisher = {MDPI}
}

@article{bechar2016agricultural,
  title     = {Agricultural robots for field operations: Concepts and components},
  author    = {Bechar, Avital and Vigneault, Cl{\'e}ment},
  journal   = {Biosystems Engineering},
  volume    = {149},
  pages     = {94--111},
  year      = {2016},
  publisher = {Elsevier}
}

@article{trainum2023robots,
  title     = {Robots in assisted living facilities: scoping review},
  author    = {Trainum, Katie and Tunis, Rachel and Xie, Bo and Hauser, Elliott and others},
  journal   = {JMIR aging},
  volume    = {6},
  number    = {1},
  pages     = {e42652},
  year      = {2023},
  publisher = {JMIR Publications Inc., Toronto, Canada}
}

@article{chen2024end,
  title     = {End-to-end autonomous driving: Challenges and frontiers},
  author    = {Chen, Li and Wu, Penghao and Chitta, Kashyap and Jaeger, Bernhard and Geiger, Andreas and Li, Hongyang},
  journal   = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year      = {2024},
  publisher = {IEEE}
}

@article{aksaray2015distributed,
  title     = {Distributed multi-agent persistent surveillance under temporal logic constraints},
  author    = {Aksaray, Derya and Leahy, Kevin and Belta, Calin},
  journal   = {IFAC-PapersOnLine},
  volume    = {48},
  number    = {22},
  pages     = {174--179},
  year      = {2015},
  publisher = {Elsevier}
}
@inproceedings{scherer2017short,
  title        = {Short and full horizon motion planning for persistent multi-UAV surveillance with energy and communication constraints},
  author       = {Scherer, J{\"u}rgen and Rinner, Bernhard},
  booktitle    = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {230--235},
  year         = {2017},
  organization = {IEEE}
}
@article{nigam2011control,
  title     = {Control of multiple UAVs for persistent surveillance: Algorithm and flight test results},
  author    = {Nigam, Nikhil and Bieniawski, Stefan and Kroo, Ilan and Vian, John},
  journal   = {IEEE Transactions on Control Systems Technology},
  volume    = {20},
  number    = {5},
  pages     = {1236--1251},
  year      = {2011},
  publisher = {IEEE}
}

@article{wakchaure2023application,
  title     = {Application of AI techniques and robotics in agriculture: A review},
  author    = {Wakchaure, Manas and Patle, BK and Mahindrakar, AK},
  journal   = {Artificial Intelligence in the Life Sciences},
  volume    = {3},
  pages     = {100057},
  year      = {2023},
  publisher = {Elsevier}
}
@article{mohsan2022towards,
  title     = {Towards the unmanned aerial vehicles ({UAVs}): A comprehensive review},
  author    = {Mohsan, Syed Agha Hassnain and Khan, Muhammad Asghar and Noor, Fazal and Ullah, Insaf and Alsharif, Mohammed H},
  journal   = {Drones},
  volume    = {6},
  number    = {6},
  pages     = {147},
  year      = {2022},
  publisher = {MDPI}
}

@article{phillips2023autosub,
  title     = {{Autosub Long Range 1500}: A continuous 2000 km field trial},
  author    = {Phillips, Alexander B and Templeton, Robert and Roper, Daniel and Morrison, Richard and Pebody, Miles and Bagley, Philip M and Marlow, Rachel and Chaney, Ed and Burris, James and Consensi, Alberto and others},
  journal   = {Ocean Engineering},
  volume    = {280},
  pages     = {114626},
  year      = {2023},
  publisher = {Elsevier}
}

@article{pourazarm2017optimal,
  title     = {Optimal routing of energy-aware vehicles in transportation networks with inhomogeneous charging nodes},
  author    = {Pourazarm, Sepideh and Cassandras, Christos G},
  journal   = {IEEE Transactions on Intelligent Transportation Systems},
  volume    = {19},
  number    = {8},
  pages     = {2515--2527},
  year      = {2017},
  publisher = {IEEE}
}

@inproceedings{wallace2020orienteering,
  title        = {The orienteering problem with replenishment},
  author       = {Wallace, Nathan D and Kong, He and Hill, Andrew J and Sukkarieh, Salah},
  booktitle    = {2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)},
  pages        = {973--978},
  year         = {2020},
  organization = {IEEE}
}

@inproceedings{moss2024constrainedzero,
  author    = {Robert J. Moss and Arec Jamgochian and Johannes Fischer and Anthony Corso and Mykel J. Kochenderfer},
  booktitle = {International Joint Conference on Artificial Intelligence (IJCAI)},
  title     = {Constrained{Z}ero: {C}hance-constrained {POMDP} planning using learned probabilistic failure surrogates and adaptive safety constraints},
  year      = {2024}
}


@inproceedings{nayak2024data,
  title        = {Data-Driven Monitoring with Mobile Sensors and Charging Stations Using Multi-Arm Bandits and Coordinated Motion Planners},
  author       = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and Di Cairano, Stefano and Vinod, Abraham P},
  booktitle    = {2024 American Control Conference (ACC)},
  pages        = {299--305},
  year         = {2024},
  organization = {IEEE}
}

@incollection{wang2024poisson,
  title     = {Poisson-disk sampling: Theory and applications},
  author    = {Wang, Tong},
  booktitle = {Encyclopedia of Computer Graphics and Games},
  pages     = {1424--1431},
  year      = {2024},
  publisher = {Springer}
}

% Topological maps
@article{kuipers1991robot,
  title     = {A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations},
  author    = {Kuipers, Benjamin and Byun, Yung-Tai},
  journal   = {Robotics and autonomous systems},
  volume    = {8},
  number    = {1-2},
  pages     = {47--63},
  year      = {1991},
  publisher = {Elsevier}
}


% Markov models generally, in particular CTMCs
@book{norris1998markov,
  title     = {Markov chains},
  author    = {Norris, James R},
  number    = {2},
  year      = {1998},
  publisher = {Cambridge university press}
}

% GAMs
@book{wood2017generalized,
  title     = {Generalized additive models: an introduction with R},
  author    = {Wood, Simon N},
  year      = {2017},
  publisher = {chapman and hall/CRC}
}

% Bayesian optimisation
@article{shahriari2015taking,
  title     = {Taking the human out of the loop: A review of Bayesian optimization},
  author    = {Shahriari, Bobak and Swersky, Kevin and Wang, Ziyu and Adams, Ryan P and De Freitas, Nando},
  journal   = {Proceedings of the IEEE},
  volume    = {104},
  number    = {1},
  pages     = {148--175},
  year      = {2015},
  publisher = {IEEE}
}

@article{akbari2021informed,
  title     = {Informed autonomous exploration of subterranean environments},
  author    = {Akbari, Aliakbar and Bernardini, Sara},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {6},
  number    = {4},
  pages     = {7957--7964},
  year      = {2021},
  publisher = {IEEE}
}

% Cost-optimal reach-avoid problems
@article{summers2010verification,
  title     = {Verification of discrete time stochastic hybrid systems: A stochastic reach-avoid decision problem},
  author    = {Summers, Sean and Lygeros, John},
  journal   = {Automatica},
  volume    = {46},
  number    = {12},
  pages     = {1951--1961},
  year      = {2010},
  publisher = {Elsevier}
}

@article{thrun1998learning,
  title     = {Learning metric-topological maps for indoor mobile robot navigation},
  author    = {Thrun, Sebastian},
  journal   = {Artificial Intelligence},
  volume    = {99},
  number    = {1},
  pages     = {21--71},
  year      = {1998},
  publisher = {Elsevier}
}

@inproceedings{tapus2005incremental,
  title        = {Incremental robot mapping with fingerprints of places},
  author       = {Tapus, Adriana and Siegwart, Roland},
  booktitle    = {2005 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages        = {2429--2434},
  year         = {2005},
  organization = {IEEE}
}
@inproceedings{stachniss2005information,
  title     = {Information gain-based exploration using rao-blackwellized particle filters.},
  author    = {Stachniss, Cyrill and Grisetti, Giorgio and Burgard, Wolfram},
  booktitle = {Robotics: Science and systems},
  volume    = {2},
  number    = {1},
  pages     = {65--72},
  year      = {2005}
}

@inproceedings{pathak2017curiosity,
  title        = {Curiosity-driven exploration by self-supervised prediction},
  author       = {Pathak, Deepak and Agrawal, Pulkit and Efros, Alexei A and Darrell, Trevor},
  booktitle    = {International conference on machine learning},
  pages        = {2778--2787},
  year         = {2017},
  organization = {PMLR}
}

% Satellite imagery
@article{stockli2005blue,
  title     = {The Blue Marble Next Generation-A true color earth dataset including seasonal dynamics from MODIS},
  author    = {St{\"o}ckli, Reto and Vermote, Eric and Saleous, Nazmi and Simmon, Robert and Herring, David},
  journal   = {Published by the NASA Earth Observatory},
  year      = {2005},
  publisher = {Citeseer}
}