{"id":"https://openalex.org/W2032961932","doi":"https://doi.org/10.1109/ecmr.2013.6698846","title":"Mobile robot exploration with potential information fields","display_name":"Mobile robot exploration with potential information fields","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2032961932","doi":"https://doi.org/10.1109/ecmr.2013.6698846","mag":"2032961932"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2117/24948","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011716191","display_name":"Joan Vallv\u00e9","orcid":"https://orcid.org/0000-0002-1029-356X"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Joan Vallve","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, Barcelona, Spain","Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039307249","display_name":"Juan Andrade\u2010Cetto","orcid":"https://orcid.org/0000-0002-6354-8941"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Andrade-Cetto","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, Barcelona, Spain","Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Inst. de Robot. i Inf. Ind., UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5011716191"],"corresponding_institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":27.9731,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.99032864,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6680585145950317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6225760579109192},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5900303721427917},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.5609230995178223},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5485461950302124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5292443633079529},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5011091232299805},{"id":"https://openalex.org/keywords/joint-entropy","display_name":"Joint entropy","score":0.4886763393878937},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4502059519290924},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.43118345737457275},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3597315549850464},{"id":"https://openalex.org/keywords/principle-of-maximum-entropy","display_name":"Principle of maximum entropy","score":0.10196971893310547}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6680585145950317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6225760579109192},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5900303721427917},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5609230995178223},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5485461950302124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5292443633079529},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5011091232299805},{"id":"https://openalex.org/C106752470","wikidata":"https://www.wikidata.org/wiki/Q1364826","display_name":"Joint entropy","level":3,"score":0.4886763393878937},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4502059519290924},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.43118345737457275},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3597315549850464},{"id":"https://openalex.org/C9679016","wikidata":"https://www.wikidata.org/wiki/Q1417473","display_name":"Principle of maximum entropy","level":2,"score":0.10196971893310547},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ecmr.2013.6698846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/24948","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/24948","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.400.6991","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.400.6991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/download/scidoc/1439/","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/97466","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/97466","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"Comunicaci\u00f3n de congreso"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/24948","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/24948","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1684737195","https://openalex.org/W1966213627","https://openalex.org/W1988757690","https://openalex.org/W2026425544","https://openalex.org/W2085020765","https://openalex.org/W2095010934","https://openalex.org/W2096052462","https://openalex.org/W2103009569","https://openalex.org/W2107667896","https://openalex.org/W2111983383","https://openalex.org/W2132622790","https://openalex.org/W2142423373","https://openalex.org/W2151175624","https://openalex.org/W2151688111","https://openalex.org/W2171960444","https://openalex.org/W2172103629","https://openalex.org/W2566974317","https://openalex.org/W6637417686","https://openalex.org/W6676769138"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2333571655","https://openalex.org/W4292862729","https://openalex.org/W2150982344"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,25,112],"mobile":[3],"robot":[4,29,78],"exploration":[5,39],"strategy":[6,131],"that":[7,10,132],"computes":[8,24],"trajectories":[9],"minimize":[11],"both":[12,119],"path":[13],"and":[14,23,74,82,124],"map":[15],"entropies.":[16],"The":[17,38,50,105],"method":[18],"evaluates":[19],"joint":[20,34],"entropy":[21,35,68,129],"reduction":[22,36,69,130],"potential":[26],"field":[27,93],"in":[28,109,111,120],"configuration":[30],"space":[31],"using":[32],"these":[33,48],"estimates.":[37],"trajectory":[40],"is":[41,98,107],"computed":[42],"descending":[43],"on":[44,94],"the":[45,87,89,95],"gradient":[46],"of":[47,91,122],"field.":[49],"technique":[51],"uses":[52,133],"Pose":[53],"SLAM":[54],"as":[55],"its":[56],"estimation":[57],"backbone.":[58],"Very":[59],"efficient":[60,103],"kernel":[61],"convolution":[62],"mechanisms":[63],"are":[64],"used":[65],"to":[66,100],"evaluate":[67],"for":[70,75],"each":[71,76],"sensor":[72],"ray,":[73],"possible":[77],"orientation,":[79],"taking":[80],"frontiers":[81],"obstacles":[83],"into":[84],"account.":[85],"In":[86],"end,":[88],"computation":[90],"this":[92],"entire":[96],"C-space":[97],"shown":[99],"be":[101],"very":[102],"computationally.":[104],"approach":[106],"tested":[108],"simulations":[110],"common":[113],"publicly":[114],"available":[115],"dataset":[116],"comparing":[117],"favorably":[118],"quality":[121],"estimates":[123],"execution":[125],"time":[126],"against":[127],"another":[128],"occupancy":[134],"maps.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}