{"id":"https://openalex.org/W7118126136","doi":"https://doi.org/10.1007/s10846-025-02339-9","title":"Balancing Exploration and Exploitation in Robotics: Path Optimization and Uncertainty Management in Complex Environments","display_name":"Balancing Exploration and Exploitation in Robotics: Path Optimization and Uncertainty Management in Complex Environments","publication_year":2026,"publication_date":"2026-01-03","ids":{"openalex":"https://openalex.org/W7118126136","doi":"https://doi.org/10.1007/s10846-025-02339-9"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02339-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02339-9","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-025-02339-9","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084683512","display_name":"Perihan KARAK\u00d6SE","orcid":"https://orcid.org/0000-0002-8894-6997"},"institutions":[{"id":"https://openalex.org/I254571519","display_name":"Bartin University","ror":"https://ror.org/03te4vd35","country_code":"TR","type":"education","lineage":["https://openalex.org/I254571519"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Perihan Karakose","raw_affiliation_strings":["Electronic and Automation, Bartin University, Bartin, 74100, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-8894-6997","affiliations":[{"raw_affiliation_string":"Electronic and Automation, Bartin University, Bartin, 74100, Turkey","institution_ids":["https://openalex.org/I254571519"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121887747","display_name":"Cafer Bal","orcid":null},"institutions":[{"id":"https://openalex.org/I143396566","display_name":"F\u0131rat University","ror":"https://ror.org/05teb7b63","country_code":"TR","type":"education","lineage":["https://openalex.org/I143396566"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Cafer Bal","raw_affiliation_strings":["Mechatronic Engineering, Firat University, Elazig, 23100, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronic Engineering, Firat University, Elazig, 23100, Turkey","institution_ids":["https://openalex.org/I143396566"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088232727","display_name":"Harun Yetkin","orcid":"https://orcid.org/0000-0001-5611-9041"},"institutions":[{"id":"https://openalex.org/I254571519","display_name":"Bartin University","ror":"https://ror.org/03te4vd35","country_code":"TR","type":"education","lineage":["https://openalex.org/I254571519"]},{"id":"https://openalex.org/I4210105992","display_name":"Qatar Science and Technology Park","ror":"https://ror.org/01gshyb58","country_code":"QA","type":"archive","lineage":["https://openalex.org/I4210105992"]}],"countries":["QA","TR"],"is_corresponding":false,"raw_author_name":"Harun Yetkin","raw_affiliation_strings":["Mechanical Engineering, Bartin University, Bartin, 74100, Turkey","University of Doha for Science and Technology, Doha, Qatar"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Bartin University, Bartin, 74100, Turkey","institution_ids":["https://openalex.org/I254571519"]},{"raw_affiliation_string":"University of Doha for Science and Technology, Doha, Qatar","institution_ids":["https://openalex.org/I4210105992"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5084683512"],"corresponding_institution_ids":["https://openalex.org/I254571519"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":6.8119,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91938531,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"112","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5819000005722046,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5819000005722046,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0908999964594841,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0340999998152256,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/uncertainty-reduction-theory","display_name":"Uncertainty reduction theory","score":0.5473999977111816},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.5084999799728394},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.49869999289512634},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4853000044822693},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48240000009536743},{"id":"https://openalex.org/keywords/variance-reduction","display_name":"Variance reduction","score":0.4722999930381775},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.45910000801086426},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.44859999418258667}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6297000050544739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6037999987602234},{"id":"https://openalex.org/C94361409","wikidata":"https://www.wikidata.org/wiki/Q7882500","display_name":"Uncertainty reduction theory","level":2,"score":0.5473999977111816},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5084999799728394},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.49869999289512634},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4853000044822693},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48240000009536743},{"id":"https://openalex.org/C62644790","wikidata":"https://www.wikidata.org/wiki/Q3454689","display_name":"Variance reduction","level":3,"score":0.4722999930381775},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.45910000801086426},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.44859999418258667},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4300000071525574},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.4092999994754791},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4059000015258789},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.3727000057697296},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3280999958515167},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28790000081062317},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2849999964237213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2694000005722046},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-025-02339-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02339-9","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02339-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02339-9","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1511449798","https://openalex.org/W1938668859","https://openalex.org/W1979985069","https://openalex.org/W1989687487","https://openalex.org/W2001123768","https://openalex.org/W2018020586","https://openalex.org/W2050179365","https://openalex.org/W2066291790","https://openalex.org/W2077057258","https://openalex.org/W2090528409","https://openalex.org/W2124294571","https://openalex.org/W2124840879","https://openalex.org/W2126748073","https://openalex.org/W2139190083","https://openalex.org/W2143717491","https://openalex.org/W2151942245","https://openalex.org/W2345111710","https://openalex.org/W2508520405","https://openalex.org/W2561815760","https://openalex.org/W2567510167","https://openalex.org/W2587473907","https://openalex.org/W2620408778","https://openalex.org/W2743166943","https://openalex.org/W2771275738","https://openalex.org/W2800824563","https://openalex.org/W2891435172","https://openalex.org/W2943002557","https://openalex.org/W2953113216","https://openalex.org/W2964203325","https://openalex.org/W2964345570","https://openalex.org/W2967455365","https://openalex.org/W2970807030","https://openalex.org/W2996352010","https://openalex.org/W2997242810","https://openalex.org/W3001347955","https://openalex.org/W3006609608","https://openalex.org/W3023980487","https://openalex.org/W3083374749","https://openalex.org/W3092034990","https://openalex.org/W3114257451","https://openalex.org/W3118524082","https://openalex.org/W3156382156","https://openalex.org/W3171105154","https://openalex.org/W3207462752","https://openalex.org/W4281882150","https://openalex.org/W4379876681","https://openalex.org/W4389300300","https://openalex.org/W4395703713","https://openalex.org/W4398151526","https://openalex.org/W4400410747","https://openalex.org/W4405934573","https://openalex.org/W4413393667"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Balancing":[1],"exploration":[2,142,216],"and":[3,33,55,72,88,105,115,143,172,196],"exploitation":[4,144],"is":[5],"a":[6,70,95,107],"fundamental":[7],"challenge":[8],"in":[9,23,46,157,164,194,199,214],"informative":[10],"path":[11,98,212],"planning":[12,213],"for":[13],"environmental":[14,147],"monitoring.":[15],"Although":[16],"numerous":[17],"reward":[18,81,104,129],"functions":[19,130],"have":[20,27],"been":[21,28],"proposed":[22,92],"the":[24,124,139,183,187,207,222,226],"literature,":[25],"most":[26],"evaluated":[29],"under":[30,145],"different":[31],"datasets":[32],"experimental":[34],"conditions,":[35],"making":[36],"direct":[37],"comparison":[38,74],"difficult.":[39],"The":[40,91],"novelty":[41],"of":[42,49,65,75,127,185,210,225],"this":[43,119],"study":[44,120],"lies":[45],"its":[47],"development":[48],"four":[50],"synthetic":[51],"datasets,":[52],"experimentally":[53],"validated":[54],"designed":[56],"with":[57,167,221],"increasing":[58],"spatial":[59,223],"complexity":[60,224],"(1":[61],"to":[62,68,110,138,191],"4":[63],"Regions":[64],"Interest,":[66],"ROIs),":[67],"enable":[69],"fair":[71],"systematic":[73],"three":[76],"widely":[77],"used":[78],"Gaussian":[79],"Process-based":[80],"functions:":[82],"Entropy,":[83],"Upper":[84],"Confidence":[85],"Bound":[86],"(UCB),":[87],"Level":[89,153],"Set.":[90],"framework":[93],"integrates":[94],"greedy":[96],"local":[97],"optimization":[99],"algorithm":[100],"that":[101,152],"maximizes":[102],"expected":[103],"incorporates":[106],"cross-validation":[108],"strategy":[109],"reduce":[111],"initial":[112],"model":[113,188],"variance":[114,200],"mitigate":[116],"overfitting.":[117],"Importantly,":[118],"not":[121],"only":[122],"compares":[123],"individual":[125],"performances":[126],"these":[128],"but":[131],"also":[132],"analyzes":[133],"how":[134],"each":[135],"one":[136],"contributes":[137],"trade-off":[140],"between":[141],"varying":[146],"conditions.":[148],"Experimental":[149],"results":[150],"show":[151],"Set":[154],"performs":[155],"best":[156],"high-variance":[158],"environments":[159],"(favoring":[160,170],"exploration),":[161],"UCB":[162],"excels":[163],"low-variance":[165],"settings":[166],"fast":[168],"convergence":[169],"exploitation),":[171],"Entropy":[173],"provides":[174],"stable":[175],"long-term":[176],"uncertainty":[177],"reduction":[178,193,198],"(balancing":[179],"both":[180],"aspects).":[181],"With":[182],"inclusion":[184],"cross-validation,":[186],"achieves":[189],"up":[190],"60%":[192],"RMSE":[195],"50%":[197],"across":[201],"all":[202],"scenarios.":[203],"These":[204],"findings":[205],"highlight":[206],"practical":[208],"value":[209],"reward-aware":[211],"robotic":[215],"tasks,":[217],"particularly":[218],"when":[219],"aligned":[220],"monitoring":[227],"environment.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-01-04T00:00:00"}
