This paper addresses the challenge of multi-agent path planning for efficient data collection in dynamic, uncertain environments, exemplified by autonomous underwater vehicles (AUVs) navigating the Gulf of Mexico. Traditional greedy algorithms, though computationally efficient, often fall short in long-term planning due to their short-sighted nature, missing crucial data collection opportunities and increasing exposure to hazards. To address these limitations, we introduce WAITR (Weighted Aggregate Inter-Temporal Reward), a novel path-planning framework that integrates a knowledge graph with pathlet-based planning, segmenting the environment into dynamic, speed-adjusted sub-regions (pathlets). This structure enables coordinated, adaptive planning, as agents can operate within time-bound regions while dynamically responding to environmental changes. WAITR’s cumulative scoring mechanism balances immediate data collection with long-term optimization of Points of Interest (POIs), ensuring safer navigation and comprehensive data coverage. Experimental results show that WAITR substantially improves POI coverage and reduces exposure to hazards, achieving up to 27.1% greater event coverage than traditional greedy methods.

Spatiotemporal networks’ observational capabilities are crucial for accurate data gathering and informed decisions across multiple sectors. This study focuses on the Spatiotemporal Ranged Observer-Observable Bipartite Network (STROOBnet), linking observational nodes (e.g., surveillance cameras) to events within defined geographical regions, enabling efficient monitoring. Using data from Real-Time Crime Camera (RTCC) systems and Calls for Service (CFS) in New Orleans, where RTCC combats rising crime amidst reduced police presence, we address the network’s initial observational imbalances. Aiming for uniform observational efficacy, we propose the Proximal Recurrence approach. It outperformed traditional clustering methods like k-means and DBSCAN by offering holistic event frequency and spatial consideration, enhancing observational coverage.

This paper proposes two new measures applicable in a spatial bipartite network model: coverage and coverage robustness. The bipartite network must consist of observer nodes, observable nodes, and edges that connect observer nodes to observable nodes. The coverage and coverage robustness scores evaluate the effectiveness of the observer node placements. This measure is beneficial for stochastic data as it may be coupled with Monte Carlo simulations to identify optimal placements for new observer nodes. In this paper, we construct a Geo-SpatioTemporal Bipartite Network (GSTBN) within the stochastic and dynamical environment of the Gulf of Mexico. This GSTBN consists of GCOOS sensor nodes and HYCOM Region of Interest (RoI) event nodes. The goal is to identify optimal placements to expand GCOOS to improve the forecasting outcomes by the HYCOM ocean prediction model.

Aggregate K Nearest Neighbor (AKNN) queries are problematic when performed within spatial networks. While simpler network queries may be solved by a single network traversal search, the AKNN requires a large number costly network distance computations to completely compute results. The M-Tree index, when used with Road Network Embedding, provides an efficient alternative which can return estimates of the AKNN results. The M-Tree index can then be used as a filter for AKNN results by quickly computing a superset of the query results. The final AKNN query results can be computed by sorting the results from the M-Tree. In comparison to Incremental Euclidean Restriction (IER), the M-Tree reduces the overall query processing time and the total number of necessary network distance computations required to complete a query. In addition, the M-Tree filtering method is tunable to allow increasing performance at the expense of accuracy, making it suitable for a wide variety of applications.

Spatial networks, such as road systems, operate differently from normal geospatial systems because objects are constrained to locations on the network. Performing queries on spatial networks demands entirely different solutions. Most spatial queries make use of an R-Tree to process them efficiently. The M-Tree is a data tree index which is capable of indexing data in any metric space. The M-Tree index can replace the R-Tree index for spatial network queries, such as range and KNN queries. The difficulty is that the M-Tree is only as efficient as the distance algorithm used on the underlying objects. Most network distance algorithms, such as A*, are too slow to allow the M-Tree to operate efficiently on spatial networks. The truncated road network embedding (tRNE) maps the network into a higher dimensional space where any LP metric can be used to efficiently compute an accurate approximation of network distance. The M-Tree combined with tRNE creates an efficient index structure for computing spatial network queries. The M-Tree substantially outperforms network expansion, the most popular method of computing spatial network queries, when performing spatial network KNN and range queries.