{"id":"https://openalex.org/W2605116034","doi":"https://doi.org/10.1109/iros.2017.8206230","title":"An approach to autonomous science by modeling geological knowledge in a Bayesian framework","display_name":"An approach to autonomous science by modeling geological knowledge in a Bayesian framework","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2605116034","doi":"https://doi.org/10.1109/iros.2017.8206230","mag":"2605116034"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206230","doi":"https://doi.org/10.1109/iros.2017.8206230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206230","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1703.03146","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Akash Arora","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Akash Arora","raw_affiliation_strings":["Australian Centre for Field-Robotics, The University of Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field-Robotics, The University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053830227","display_name":"Robert Fitch","orcid":"https://orcid.org/0000-0003-2215-5188","observed_orcids":["https://orcid.org/0000-0003-2215-5188"]},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Fitch","raw_affiliation_strings":["Australian Centre for Field-Robotics, The University of Sydney, NSW, Australia","Centre for Autonomous Systems, University of Technology, Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field-Robotics, The University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268","observed_orcids":["https://orcid.org/0000-0003-1173-9268"]},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Salah Sukkarieh","raw_affiliation_strings":["Australian Centre for Field-Robotics, The University of Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Centre for Field-Robotics, The University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6517,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.88188442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3803","last_page":"3810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9340999722480774,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9340999722480774,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.0210999995470047,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.011599999852478504,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-science","display_name":"autonomous science","score":0.9789999723434448},{"id":"https://openalex.org/keywords/exploration-robots","display_name":"exploration robots","score":0.7429999709129333},{"id":"https://openalex.org/keywords/bayesian-networks","display_name":"Bayesian networks","score":0.8460000157356262},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.949999988079071},{"id":"https://openalex.org/keywords/anytime-algorithms","display_name":"anytime algorithms","score":0.5770000219345093},{"id":"https://openalex.org/keywords/mars-rover","display_name":"Mars rover","score":0.5130000114440918},{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.5920000076293945},{"id":"https://openalex.org/keywords/scientific-knowledge-representation","display_name":"scientific knowledge representation","score":0.42100000381469727},{"id":"https://openalex.org/keywords/reasoning-under-uncertainty","display_name":"uncertainty reasoning","score":0.44600000977516174}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682699978351593},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5924999713897705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.513700008392334},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.4927000105381012},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46320000290870667},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.4375},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.4050999879837036},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3977999985218048},{"id":"https://openalex.org/C2776219924","wikidata":"https://www.wikidata.org/wiki/Q6774740","display_name":"Martian surface","level":4,"score":0.37599998712539673},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36809998750686646},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3619999885559082},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.35760000348091125},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.33649998903274536},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.3188999891281128},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.30799999833106995},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.29600000381469727},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C82142266","wikidata":"https://www.wikidata.org/wiki/Q3456604","display_name":"Dynamic Bayesian network","level":3,"score":0.2847999930381775},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2786000072956085},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2784000039100647},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2777999937534332},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2773999869823456},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.27619999647140503},{"id":"https://openalex.org/C195732255","wikidata":"https://www.wikidata.org/wiki/Q981008","display_name":"Sociology of scientific knowledge","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C2775966667","wikidata":"https://www.wikidata.org/wiki/Q6423384","display_name":"Knowledge modeling","level":3,"score":0.2662999927997589},{"id":"https://openalex.org/C2781266219","wikidata":"https://www.wikidata.org/wiki/Q389459","display_name":"Mars rover","level":3,"score":0.2637999951839447},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C138379479","wikidata":"https://www.wikidata.org/wiki/Q1116876","display_name":"Scientific modelling","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C78949437","wikidata":"https://www.wikidata.org/wiki/Q6773188","display_name":"Mars landing","level":4,"score":0.2529999911785126}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2017.8206230","doi":"https://doi.org/10.1109/iros.2017.8206230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206230","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1703.03146","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.03146","pdf_url":"https://arxiv.org/pdf/1703.03146","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/127275","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/127275","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},{"id":"doi:10.48550/arxiv.1703.03146","doi":"https://doi.org/10.48550/arxiv.1703.03146","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1703.03146","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1703.03146","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.03146","pdf_url":"https://arxiv.org/pdf/1703.03146","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323141","display_name":"Australian Centre for Field Robotics","ror":"https://ror.org/0384j8v12"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1517993545","https://openalex.org/W1590192302","https://openalex.org/W1616853483","https://openalex.org/W1902970082","https://openalex.org/W1969383963","https://openalex.org/W1972373069","https://openalex.org/W2018020586","https://openalex.org/W2018182198","https://openalex.org/W2118246710","https://openalex.org/W2126316555","https://openalex.org/W2137504970","https://openalex.org/W2143088799","https://openalex.org/W2157647824","https://openalex.org/W2168359206","https://openalex.org/W2168966637","https://openalex.org/W2198255514","https://openalex.org/W2291201195","https://openalex.org/W4232415703","https://openalex.org/W6636578284","https://openalex.org/W6637389264","https://openalex.org/W6674866097","https://openalex.org/W6686680789","https://openalex.org/W6738319944"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"Science":[1],"is":[2,121,151],"a":[3,143,166,207],"field":[4,136],"of":[5,13,73,170,191],"study":[6,165],"which":[7,30,148],"aims":[8],"to":[9,27,33,54,58,67,78,93,104,129,135,142,153,159,164],"extend":[10,68],"the":[11,69,107,140,149,189],"autonomy":[12,72],"exploration":[14,145],"robots":[15,74],"from":[16],"low":[17],"level":[18,71],"functionality,":[19],"such":[20,47],"as":[21,48],"on-board":[22],"perception":[23],"and":[24,44,51,80,97,109,118,127,156,205],"obstacle":[25],"avoidance,":[26],"science":[28,60,208],"autonomy,":[29],"allows":[31],"scientists":[32],"specify":[34],"missions":[35],"at":[36],"task":[37],"level.":[38],"This":[39,62],"will":[40],"enable":[41],"more":[42],"remote":[43],"extreme":[45],"environments":[46],"deep":[49],"ocean":[50],"other":[52],"planets":[53],"be":[55],"studied,":[56],"leading":[57],"significant":[59,180],"discoveries.":[61],"paper":[63],"presents":[64],"an":[65,195],"approach":[66,141,178,193],"high":[70],"by":[75,89],"enabling":[76],"them":[77],"model":[79],"reason":[81,105],"about":[82,106],"scientific":[83,95,167],"knowledge":[84,96,116],"on-board.":[85],"We":[86,138,186],"achieve":[87],"this":[88],"using":[90],"Bayesian":[91],"networks":[92],"encode":[94],"adapting":[98],"Monte":[99],"Carlo":[100],"Tree":[101],"Search":[102],"techniques":[103],"network":[108],"plan":[110,154],"informative":[111],"sensing":[112,162],"actions.":[113],"The":[114],"resulting":[115],"representation":[117],"reasoning":[119],"framework":[120],"anytime,":[122],"handles":[123],"large":[124],"state":[125],"spaces":[126],"robust":[128],"uncertainty":[130],"making":[131],"it":[132],"highly":[133],"applicable":[134],"robotics.":[137],"apply":[139],"Mars":[144],"mission":[146,209],"in":[147,194],"robot":[150],"required":[152],"paths":[155],"decide":[157],"when":[158],"use":[160],"its":[161],"modalities":[163],"latent":[168],"variable":[169],"interest.":[171],"Extensive":[172],"simulation":[173],"results":[174],"show":[175],"that":[176],"our":[177,192,200],"has":[179],"performance":[181],"benefits":[182],"over":[183],"alternative":[184],"methods.":[185],"also":[187],"demonstrate":[188],"practicality":[190],"analog":[196],"Martian":[197],"environment":[198],"where":[199],"experimental":[201],"rover,":[202],"Continuum,":[203],"plans":[204],"executes":[206],"autonomously.":[210]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3}],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2017-04-14T00:00:00"}
