{"id":"https://openalex.org/W3125606138","doi":"https://doi.org/10.1109/access.2021.3052024","title":"Robotic Information Gathering With Reinforcement Learning Assisted by Domain Knowledge: An Application to Gas Source Localization","display_name":"Robotic Information Gathering With Reinforcement Learning Assisted by Domain Knowledge: An Application to Gas Source Localization","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3125606138","doi":"https://doi.org/10.1109/access.2021.3052024","mag":"3125606138"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3052024","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3052024","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09326418.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09326418.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018138101","display_name":"Thomas Wiedemann","orcid":"https://orcid.org/0000-0002-1740-8841"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wiedemann","raw_affiliation_strings":["Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1740-8841","affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037775965","display_name":"Cosmin Vlaicu","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cosmin Vlaicu","raw_affiliation_strings":["Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","Technische Universit\u00e4t M\u00fcnchen (TUM), Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009408366","display_name":"Josip Josifovski","orcid":"https://orcid.org/0000-0002-1031-7621"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Josip Josifovski","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen (TUM), Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1031-7621","affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059112748","display_name":"Alberto Viseras","orcid":"https://orcid.org/0000-0001-5219-6533"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alberto Viseras","raw_affiliation_strings":["Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5219-6533","affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1377,"currency":"EUR","value_usd":1485},"fwci":4.5792,"has_fulltext":true,"cited_by_count":29,"citation_normalized_percentile":{"value":0.9417238,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"13159","last_page":"13172"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9485999941825867,"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/T10895","display_name":"Species Distribution and Climate Change","score":0.9197999835014343,"subfield":{"id":"https://openalex.org/subfields/2302","display_name":"Ecological Modeling"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8559938669204712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7404382228851318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7217674851417542},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.6414594054222107},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5963612794876099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5368877053260803},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.534209132194519},{"id":"https://openalex.org/keywords/domain-knowledge","display_name":"Domain knowledge","score":0.513428807258606},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.433879554271698},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.4134024381637573},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36969345808029175},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3641239404678345}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8559938669204712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7404382228851318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7217674851417542},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.6414594054222107},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5963612794876099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5368877053260803},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.534209132194519},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.513428807258606},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.433879554271698},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.4134024381637573},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36969345808029175},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3641239404678345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/access.2021.3052024","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3052024","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09326418.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:140623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ACCESS.2021.3052024>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Zeitschriftenbeitrag"},{"id":"pmh:oai:doaj.org/article:48fdcfc710294b3ca3f56b931a4c5d0c","is_oa":true,"landing_page_url":"https://doaj.org/article/48fdcfc710294b3ca3f56b931a4c5d0c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 13159-13172 (2021)","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1600210","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1600210","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1662203","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1662203","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3052024","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3052024","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09326418.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3125606138.pdf","grobid_xml":"https://content.openalex.org/works/W3125606138.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1543837481","https://openalex.org/W1591593323","https://openalex.org/W1757796397","https://openalex.org/W1777239053","https://openalex.org/W1968321756","https://openalex.org/W1998804623","https://openalex.org/W2016863073","https://openalex.org/W2042247074","https://openalex.org/W2052472307","https://openalex.org/W2054311845","https://openalex.org/W2093912891","https://openalex.org/W2111316871","https://openalex.org/W2116296877","https://openalex.org/W2121863487","https://openalex.org/W2125069195","https://openalex.org/W2141953627","https://openalex.org/W2164466378","https://openalex.org/W2164819104","https://openalex.org/W2212786010","https://openalex.org/W2321998191","https://openalex.org/W2328725012","https://openalex.org/W2524241275","https://openalex.org/W2586067474","https://openalex.org/W2605102758","https://openalex.org/W2605835836","https://openalex.org/W2729087191","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2767532364","https://openalex.org/W2783738137","https://openalex.org/W2900643257","https://openalex.org/W2908739874","https://openalex.org/W2913320256","https://openalex.org/W2955087651","https://openalex.org/W2963019567","https://openalex.org/W2964043796","https://openalex.org/W2971384749","https://openalex.org/W2973203378","https://openalex.org/W2980897231","https://openalex.org/W3099533866","https://openalex.org/W3099664902","https://openalex.org/W3106462682","https://openalex.org/W4298857966","https://openalex.org/W6632687468","https://openalex.org/W6637967152","https://openalex.org/W6638088447","https://openalex.org/W6692846177","https://openalex.org/W6733118196","https://openalex.org/W6741002519","https://openalex.org/W6768844577"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4306904969","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W62490179","https://openalex.org/W2954004777","https://openalex.org/W2949638731"],"abstract_inverted_index":{"Gas":[0],"source":[1,115],"localization":[2,116],"tackles":[3],"the":[4,19,78,98,130],"problem":[5],"of":[6,9,21,77,144],"finding":[7],"leakages":[8],"hazardous":[10],"substances":[11],"such":[12],"as":[13,118,120],"poisonous":[14],"gases":[15],"or":[16],"radiation":[17],"in":[18,133],"event":[20],"a":[22,45,51,63,75,86,105,141],"disaster.":[23],"In":[24,82],"order":[25],"to":[26,54,57,140],"avoid":[27],"threats":[28],"for":[29,35,97],"human":[30],"operators,":[31],"autonomous":[32],"robots":[33,121],"dispatched":[34],"localizing":[36],"potential":[37],"gas":[38,59,79,114],"sources":[39],"are":[40,123],"preferable.":[41],"This":[42],"work":[43,135],"investigates":[44],"Reinforcement":[46,67,99],"Learning":[47,68,100],"framework":[48,131],"that":[49,65,104,122],"allows":[50],"robotic":[52],"agent":[53],"learn":[55],"how":[56],"localize":[58],"sources.":[60],"We":[61,102],"propose":[62],"solution":[64],"assists":[66],"with":[69,108],"existing":[70],"domain":[71,88,127],"knowledge":[72,89],"based":[73],"on":[74],"model":[76],"dispersion":[80],"process.":[81],"particular,":[83],"we":[84],"incorporate":[85],"priori":[87],"by":[90],"designing":[91],"appropriate":[92],"rewards":[93],"and":[94],"observation":[95],"inputs":[96],"algorithm.":[101],"show":[103],"robot":[106],"trained":[107,124],"our":[109],"proposed":[110],"method":[111],"outperforms":[112],"state-of-the-art":[113],"strategies,":[117],"well":[119],"without":[125],"additional":[126],"knowledge.":[128],"Furthermore,":[129],"developed":[132],"this":[134],"can":[136],"also":[137],"be":[138],"generalized":[139],"large":[142],"variety":[143],"information":[145],"gathering":[146],"tasks.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}