{"id":"https://openalex.org/W3047792530","doi":"https://doi.org/10.1109/aim43001.2020.9158881","title":"Robotic Exploration of Unknown 2D Environment Using a Frontier-based Automatic-Differentiable Information Gain Measure","display_name":"Robotic Exploration of Unknown 2D Environment Using a Frontier-based Automatic-Differentiable Information Gain Measure","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3047792530","doi":"https://doi.org/10.1109/aim43001.2020.9158881","mag":"3047792530"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5076374249","display_name":"Di Deng","orcid":"https://orcid.org/0000-0001-7805-3012"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Di Deng","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023137810","display_name":"Runlin Duan","orcid":"https://orcid.org/0000-0001-8256-6419"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Runlin Duan","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101915252","display_name":"Jiahong Liu","orcid":"https://orcid.org/0000-0001-9166-9364"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiahong Liu","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028907189","display_name":"Kuangjie Sheng","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kuangjie Sheng","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4683,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.84689082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1497","last_page":"1503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9994000196456909,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.6540348529815674},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.6351313591003418},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5930454730987549},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5293686389923096},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5258448719978333},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5010218620300293},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.49916529655456543},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49136415123939514},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.47427400946617126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4255639612674713},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41516512632369995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33079203963279724},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.24883371591567993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2247765064239502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20576414465904236}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6540348529815674},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.6351313591003418},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5930454730987549},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5293686389923096},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5258448719978333},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5010218620300293},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.49916529655456543},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49136415123939514},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.47427400946617126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4255639612674713},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41516512632369995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33079203963279724},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.24883371591567993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2247765064239502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20576414465904236},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim43001.2020.9158881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1542612979","https://openalex.org/W1573725801","https://openalex.org/W1684737195","https://openalex.org/W1925307928","https://openalex.org/W1966213627","https://openalex.org/W2056554710","https://openalex.org/W2058626008","https://openalex.org/W2082219174","https://openalex.org/W2096268286","https://openalex.org/W2099893201","https://openalex.org/W2107667896","https://openalex.org/W2108739153","https://openalex.org/W2113775403","https://openalex.org/W2119173531","https://openalex.org/W2121734178","https://openalex.org/W2143088799","https://openalex.org/W2154418813","https://openalex.org/W2172103629","https://openalex.org/W2199132929","https://openalex.org/W2283534560","https://openalex.org/W2293883387","https://openalex.org/W2336416123","https://openalex.org/W2382989034","https://openalex.org/W2409009991","https://openalex.org/W2564666437","https://openalex.org/W2736958649","https://openalex.org/W2798405286","https://openalex.org/W2811158378","https://openalex.org/W6678073246"],"related_works":["https://openalex.org/W3177062893","https://openalex.org/W3125143773","https://openalex.org/W2007032764","https://openalex.org/W803550684","https://openalex.org/W2483226803","https://openalex.org/W3143937874","https://openalex.org/W4312926500","https://openalex.org/W2067280619","https://openalex.org/W4251343851","https://openalex.org/W4352977312"],"abstract_inverted_index":{"At":[0],"the":[1,19,34,42,53,56,83,87,91,97,164],"heart":[2],"of":[3,18,37,44,61,64,96,99,131,138,163],"path-planning":[4],"methods":[5,32,78],"for":[6],"autonomous":[7],"robotic":[8],"exploration":[9,39,116],"is":[10,106,134,168],"a":[11,135,142,178],"heuristic":[12],"which":[13,49,119],"encourages":[14],"exploring":[15],"unknown":[16],"regions":[17],"environment.":[20],"Such":[21],"heuristics":[22],"are":[23,50],"typically":[24],"computed":[25],"using":[26,72,177],"frontier-based":[27],"or":[28,47],"information-theoretic":[29,77],"methods.":[30,74],"Frontier-based":[31],"define":[33,79],"information":[35,65,80,85,101,139,151],"gain":[36,66,81,140,152],"an":[38,115],"path":[40,122,126],"as":[41,82,141,159],"number":[43],"boundary":[45],"cells,":[46],"frontiers,":[48],"visible":[51],"from":[52],"path.":[54],"However,":[55,94],"discrete":[57],"and":[58,90,105,124,173],"non-differentiable":[59],"nature":[60],"this":[62,111,132],"measure":[63],"makes":[67],"it":[68],"difficult":[69],"to":[70,148],"optimize":[71,150],"gradient-based":[73,125],"In":[75,110],"contrast,":[76],"mutual":[84,100],"between":[86],"sensor's":[88],"measurements":[89],"explored":[92],"map.":[93],"computation":[95],"gradient":[98],"involves":[102],"finite":[103],"differencing":[104],"thus":[107],"computationally":[108],"expensive.":[109],"work,":[112],"we":[113],"propose":[114],"planning":[117,123,166],"framework":[118,133,167],"combines":[120],"sampling-based":[121],"optimization.":[127],"The":[128,161],"main":[129],"contribution":[130],"novel":[136],"reformulation":[137],"differentiable":[143,155],"function.":[144],"This":[145],"allows":[146],"us":[147],"simultaneously":[149],"with":[153],"other":[154],"quality":[156],"measures,":[157],"such":[158],"smoothness.":[160],"effectiveness":[162],"proposed":[165],"verified":[169],"both":[170],"in":[171,174],"simulation":[172],"hardware":[175],"experiments":[176],"Turtlebot3":[179],"Burger":[180],"robot.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}
