{"id":"https://openalex.org/W3015262579","doi":"https://doi.org/10.1080/01691864.2020.1748900","title":"Improved mobile robot based gas distribution mapping through propagated distance transform for structured indoor environment","display_name":"Improved mobile robot based gas distribution mapping through propagated distance transform for structured indoor environment","publication_year":2020,"publication_date":"2020-04-07","ids":{"openalex":"https://openalex.org/W3015262579","doi":"https://doi.org/10.1080/01691864.2020.1748900","mag":"3015262579"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1748900","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1748900","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","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/A5052400583","display_name":"R. Visvanathan","orcid":"https://orcid.org/0000-0001-5560-0503"},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Retnam Visvanathan","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]},{"raw_affiliation_string":"School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075368650","display_name":"Kamarulzaman Kamarudin","orcid":"https://orcid.org/0000-0001-7764-0821"},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Kamarulzaman Kamarudin","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]},{"raw_affiliation_string":"School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037308871","display_name":"Syed Muhammad Mamduh Syed Zakaria","orcid":"https://orcid.org/0000-0003-3557-2204"},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Syed Muhammad Mamduh","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048048944","display_name":"Masahiro Toyoura","orcid":"https://orcid.org/0000-0002-5897-7573"},"institutions":[{"id":"https://openalex.org/I66906201","display_name":"University of Yamanashi","ror":"https://ror.org/059x21724","country_code":"JP","type":"education","lineage":["https://openalex.org/I66906201"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Toyoura","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Yamanashi, Kofu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Yamanashi, Kofu, Japan","institution_ids":["https://openalex.org/I66906201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011747815","display_name":"Ahmad Shakaff Ali Yeon","orcid":"https://orcid.org/0009-0003-2899-2726"},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Ahmad Shakaff Ali Yeon","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]},{"raw_affiliation_string":"School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044465736","display_name":"Ammar Zakaria","orcid":"https://orcid.org/0000-0002-7108-215X"},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Ammar Zakaria","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-7108-215X","affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]},{"raw_affiliation_string":"School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087609310","display_name":"Latifah Munirah Kamarudin","orcid":"https://orcid.org/0000-0002-2547-3934"},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Latifah Munirah Kamarudin","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-2547-3934","affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043255121","display_name":"Xiaoyang Mao","orcid":"https://orcid.org/0000-0001-9531-3197"},"institutions":[{"id":"https://openalex.org/I66906201","display_name":"University of Yamanashi","ror":"https://ror.org/059x21724","country_code":"JP","type":"education","lineage":["https://openalex.org/I66906201"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xiaoyang Mao","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Yamanashi, Kofu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Yamanashi, Kofu, Japan","institution_ids":["https://openalex.org/I66906201"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084622034","display_name":"Shazmin Aniza Abdul Shukor","orcid":null},"institutions":[{"id":"https://openalex.org/I65079550","display_name":"Universiti Malaysia Perlis","ror":"https://ror.org/00xmkb790","country_code":"MY","type":"education","lineage":["https://openalex.org/I65079550"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Shazmin Aniza Abdul Shukor","raw_affiliation_strings":["Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Advanced Sensor Technology (CEASTech), Universiti Malaysia Perlis, Arau, Malaysia","institution_ids":["https://openalex.org/I65079550"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5052400583"],"corresponding_institution_ids":["https://openalex.org/I65079550"],"apc_list":null,"apc_paid":null,"fwci":0.8761,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72853649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"34","issue":"10","first_page":"637","last_page":"647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12486","display_name":"Food Supply Chain Traceability","score":0.9336000084877014,"subfield":{"id":"https://openalex.org/subfields/1106","display_name":"Food Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.7879233360290527},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.683792233467102},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5472613573074341},{"id":"https://openalex.org/keywords/graphics-processing-unit","display_name":"Graphics processing unit","score":0.5440037846565247},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5209185481071472},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.48219242691993713},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.4663592576980591},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4150884747505188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36406654119491577},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3499758541584015},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3461274206638336},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.3416798710823059},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3252044916152954},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.27763283252716064},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.16720816493034363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13196751475334167},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11622941493988037}],"concepts":[{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.7879233360290527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.683792233467102},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5472613573074341},{"id":"https://openalex.org/C2779851693","wikidata":"https://www.wikidata.org/wiki/Q183484","display_name":"Graphics processing unit","level":2,"score":0.5440037846565247},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5209185481071472},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.48219242691993713},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.4663592576980591},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4150884747505188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36406654119491577},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3499758541584015},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3461274206638336},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.3416798710823059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3252044916152954},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27763283252716064},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.16720816493034363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13196751475334167},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11622941493988037},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1748900","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1748900","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W140238390","https://openalex.org/W773168442","https://openalex.org/W1488473828","https://openalex.org/W1496982712","https://openalex.org/W1556436033","https://openalex.org/W1998538693","https://openalex.org/W1999050017","https://openalex.org/W1999123294","https://openalex.org/W2007236156","https://openalex.org/W2012421030","https://openalex.org/W2053407718","https://openalex.org/W2067284330","https://openalex.org/W2067599125","https://openalex.org/W2075351671","https://openalex.org/W2084596628","https://openalex.org/W2114107076","https://openalex.org/W2122094928","https://openalex.org/W2128022558","https://openalex.org/W2131262329","https://openalex.org/W2135851621","https://openalex.org/W2139022569","https://openalex.org/W2145338271","https://openalex.org/W2156628036","https://openalex.org/W2157439304","https://openalex.org/W2164128461","https://openalex.org/W2213814677","https://openalex.org/W2536242223","https://openalex.org/W2566362006","https://openalex.org/W2740340680","https://openalex.org/W2805457642","https://openalex.org/W2893367859","https://openalex.org/W2914866228"],"related_works":["https://openalex.org/W2281433634","https://openalex.org/W1966576946","https://openalex.org/W2503137108","https://openalex.org/W3009037905","https://openalex.org/W2119534391","https://openalex.org/W2023770367","https://openalex.org/W2062253548","https://openalex.org/W2393490604","https://openalex.org/W2393707426","https://openalex.org/W2030707850"],"abstract_inverted_index":{"Mobile":[0],"robot":[1],"carrying":[2],"gas":[3,142,163],"sensors":[4],"have":[5],"been":[6],"widely":[7],"used":[8,97],"in":[9,18,91],"mobile":[10],"olfaction":[11],"applications.":[12],"One":[13],"of":[14,31,47,124,139,148],"the":[15,45,61,73,100,109,117,122,137,153],"challenging":[16],"tasks":[17],"this":[19,149],"research":[20],"field":[21],"is":[22,28,36,96,106,132,169],"Gas":[23],"Distribution":[24],"Mapping":[25],"(GDM).":[26],"GDM":[27,50,125,160],"a":[29,57],"representation":[30],"how":[32],"volatile":[33],"organic":[34],"compound":[35],"spatially":[37],"dispersed":[38],"within":[39],"an":[40],"environment.":[41,53],"This":[42,54],"paper":[43],"addresses":[44],"effect":[46,138],"obstacles":[48,140],"towards":[49,136],"for":[51,159],"indoor":[52],"work":[55,150],"proposes":[56],"solution":[58,105],"by":[59],"improvising":[60],"Kernel":[62,110],"DM":[63,111],"+":[64,112],"V":[65,113],"technique":[66],"using":[67,84],"propagated":[68],"distance":[69],"transform":[70],"(DT)":[71],"as":[72],"weighing":[74],"function.":[75],"Since":[76],"DT":[77,101],"computations":[78],"are":[79],"CPU":[80],"heavy,":[81],"parallel":[82],"computing,":[83],"Compute":[85],"Unified":[86],"Device":[87],"Architecture":[88],"(CUDA)":[89],"available":[90],"Graphics":[92],"Processing":[93],"Unit":[94],"(GPU),":[95],"to":[98],"accelerate":[99],"computation.":[102],"The":[103,130,146],"proposed":[104,118,154],"compared":[107],"with":[108],"algorithm,":[114],"presenting":[115],"that":[116,152],"method":[119,155],"drastically":[120],"improves":[121],"quality":[123],"under":[126],"various":[127],"kernel":[128],"sizes.":[129],"study":[131],"also":[133],"further":[134],"extended":[135],"on":[141],"source":[143,164],"localization":[144,165],"task.":[145],"outcome":[147],"proves":[151],"shows":[156],"better":[157],"accuracy":[158],"estimation":[161],"and":[162],"if":[166],"obstacle":[167],"information":[168],"considered.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-10-10T00:00:00"}
