{"id":"https://openalex.org/W2955486192","doi":"https://doi.org/10.1109/lra.2019.2926669","title":"Guiding Autonomous Exploration With Signal Temporal Logic","display_name":"Guiding Autonomous Exploration With Signal Temporal Logic","publication_year":2019,"publication_date":"2019-07-07","ids":{"openalex":"https://openalex.org/W2955486192","doi":"https://doi.org/10.1109/lra.2019.2926669","mag":"2955486192"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2926669","doi":"https://doi.org/10.1109/lra.2019.2926669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2926669","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101914057","display_name":"Fernando S. Barbosa","orcid":"https://orcid.org/0000-0001-8627-1191","observed_orcids":["https://orcid.org/0000-0001-8627-1191"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Fernando S. Barbosa","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-8627-1191","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091843764","display_name":"Daniel Duberg","orcid":"https://orcid.org/0000-0003-4815-9689","observed_orcids":["https://orcid.org/0000-0003-4815-9689"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Duberg","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-4815-9689","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162","observed_orcids":["https://orcid.org/0000-0002-1170-7162"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-1170-7162","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042698317","display_name":"Jana T\u016fmov\u00e1","orcid":"https://orcid.org/0000-0003-4173-2593","observed_orcids":["https://orcid.org/0000-0003-4173-2593"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jana Tumova","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.9651,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.85613718,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"3332","last_page":"3339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8916000127792358,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8916000127792358,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.04520000144839287,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10142","display_name":"Formal Methods in Verification","score":0.029899999499320984,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/signal-temporal-logic","display_name":"signal temporal logic","score":0.9980000257492065},{"id":"https://openalex.org/keywords/spatial-preferences","display_name":"spatial preferences","score":0.734000027179718},{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.8339999914169312},{"id":"https://openalex.org/keywords/cost-function","display_name":"cost function","score":0.6119999885559082}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7039870619773865},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6483598351478577},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6447445154190063},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6127225160598755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5857813954353333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5107512474060059},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5024919509887695},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4275183379650116},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38647621870040894},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37844520807266235},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2926669","doi":"https://doi.org/10.1109/lra.2019.2926669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2926669","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1481356306","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W2048563056","https://openalex.org/W2051493878","https://openalex.org/W2089437550","https://openalex.org/W2096268286","https://openalex.org/W2104241562","https://openalex.org/W2107667896","https://openalex.org/W2167340365","https://openalex.org/W2409009991","https://openalex.org/W2737479107","https://openalex.org/W2769990600","https://openalex.org/W2772485446","https://openalex.org/W2901136733","https://openalex.org/W2912372166","https://openalex.org/W6662381374","https://openalex.org/W7062022895"],"related_works":["https://openalex.org/W4389666293","https://openalex.org/W4295046640","https://openalex.org/W4406804565","https://openalex.org/W3195836915","https://openalex.org/W6992996552","https://openalex.org/W4383108341","https://openalex.org/W4409640588","https://openalex.org/W4416748826","https://openalex.org/W3155735978","https://openalex.org/W4415317041"],"abstract_inverted_index":{"Algorithms":[0],"for":[1],"autonomous":[2,110],"robotic":[3],"exploration":[4,111],"usually":[5],"focus":[6],"on":[7],"optimizing":[8],"time":[9],"and":[10,22,27,117],"coverage,":[11],"often":[12],"in":[13,50,62],"a":[14,41,57,63,85],"greedy":[15],"fashion.":[16],"However,":[17],"obstacle":[18],"inflation":[19],"is":[20],"conservative":[21],"might":[23],"limit":[24],"mapping":[25],"capabilities":[26],"even":[28],"prevent":[29],"the":[30,45,47,51,74,79,90,99,102,109,123],"robot":[31,48],"from":[32,115],"moving":[33],"through":[34,84],"narrow,":[35],"important":[36],"places.":[37],"This":[38],"letter":[39],"proposes":[40],"method":[42],"to":[43,72],"influence":[44],"manner":[46],"moves":[49],"environment":[52],"by":[53],"taking":[54],"into":[55,108],"consideration":[56],"user-defined":[58],"spatial":[59],"preference":[60,83],"formulated":[61],"fragment":[64],"of":[65,81,95,101,125],"signal":[66],"temporal":[67],"logic":[68],"(STL).":[69],"We":[70],"propose":[71],"guide":[73],"motion":[75],"planning":[76],"toward":[77],"minimizing":[78],"violation":[80],"such":[82],"cost":[86],"function":[87],"that":[88],"integrates":[89],"quantitative":[91],"semantics,":[92],"i.e.,":[93],"robustness":[94],"STL.":[96],"To":[97],"demonstrate":[98],"effectiveness":[100],"proposed":[103],"approach,":[104],"we":[105],"integrate":[106],"it":[107],"planner":[112],"(AEP).":[113],"Results":[114],"simulations":[116],"real-world":[118],"experiments":[119],"are":[120],"presented,":[121],"highlighting":[122],"benefits":[124],"our":[126],"approach.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2019-07-12T00:00:00"}