{"id":"https://openalex.org/W3208546281","doi":"https://doi.org/10.1109/ecmr50962.2021.9568793","title":"Understanding Greediness in Map-Predictive Exploration Planning","display_name":"Understanding Greediness in Map-Predictive Exploration Planning","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3208546281","doi":"https://doi.org/10.1109/ecmr50962.2021.9568793","mag":"3208546281"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5045261159","display_name":"Ludvig Ericson","orcid":"https://orcid.org/0000-0001-8640-1056"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ludvig Ericson","raw_affiliation_strings":["Division of Robotics, Perception and Learning at KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning at KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091843764","display_name":"Daniel Duberg","orcid":"https://orcid.org/0000-0003-4815-9689"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Duberg","raw_affiliation_strings":["Division of Robotics, Perception and Learning at KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning at KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Division of Robotics, Perception and Learning at KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning at KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9986000061035156,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.6573784351348877},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5773019790649414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5489394068717957},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5452455282211304},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4988572597503662},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4879860281944275},{"id":"https://openalex.org/keywords/predictive-value","display_name":"Predictive value","score":0.4653167724609375},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37182512879371643},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2201177477836609}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6573784351348877},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5773019790649414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5489394068717957},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5452455282211304},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4988572597503662},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4879860281944275},{"id":"https://openalex.org/C3019719930","wikidata":"https://www.wikidata.org/wiki/Q3910099","display_name":"Predictive value","level":2,"score":0.4653167724609375},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37182512879371643},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2201177477836609},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","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},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1971086298","https://openalex.org/W2006003168","https://openalex.org/W2196669139","https://openalex.org/W2409009991","https://openalex.org/W2482852384","https://openalex.org/W2607968634","https://openalex.org/W2769990600","https://openalex.org/W2907636777","https://openalex.org/W2908961511","https://openalex.org/W2912372166","https://openalex.org/W2968968404","https://openalex.org/W2973864946","https://openalex.org/W3006305332","https://openalex.org/W3016516676","https://openalex.org/W3047616003","https://openalex.org/W3081925040","https://openalex.org/W3089716481","https://openalex.org/W3089935474","https://openalex.org/W3100948105","https://openalex.org/W3102129812","https://openalex.org/W6605295560","https://openalex.org/W6687047315","https://openalex.org/W6776878201"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W1531601525","https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681"],"abstract_inverted_index":{"In":[0],"map-predictive":[1,98,107],"exploration":[2,16,27,90,166],"planning,":[3,145],"the":[4,37,44,62,102,142,158],"aim":[5],"is":[6,55,133],"to":[7,12,30,39,129],"exploit":[8],"a-priori":[9],"map":[10,24,34,126],"information":[11],"improve":[13],"planning":[14,28],"for":[15,144,163],"in":[17,26,61,86,96,109],"otherwise":[18],"unknown":[19],"environments.":[20],"The":[21],"use":[22],"of":[23,43,104],"predictions":[25,35],"leads":[29],"exacerbated":[31],"greediness,":[32],"as":[33,57,141],"allow":[36],"planner":[38,108],"defer":[40],"exploring":[41],"parts":[42],"environment":[45],"that":[46,79,154],"have":[47],"low":[48],"value,":[49],"e.g.,":[50],"unfinished":[51],"corners.":[52],"This":[53],"behavior":[54,103],"undesirable,":[56],"it":[58],"leaves":[59],"holes":[60],"explored":[63,122],"space":[64,123],"by":[65,155],"design.":[66],"To":[67],"this":[68],"end,":[69],"we":[70,152],"propose":[71],"a":[72,87,97,105,110,125,146],"scoring":[73],"function":[74],"based":[75],"on":[76],"inverse":[77],"covisibility":[78],"rewards":[80],"visiting":[81],"these":[82],"low-value":[83],"parts,":[84],"resulting":[85],"more":[88,134],"cohesive":[89],"process,":[91],"and":[92,113,136],"preventing":[93],"excessive":[94],"greediness":[95,162],"setting.":[99],"We":[100],"examine":[101],"non-greedy":[106],"bare-bones":[111],"simulator,":[112],"answer":[114],"two":[115],"principal":[116],"questions:":[117],"a)":[118],"how":[119],"far":[120],"beyond":[121],"should":[124],"predictor":[127],"predict":[128],"aid":[130],"exploration,":[131],"i.e.,":[132],"better;":[135],"b)":[137],"does":[138],"shortest-path":[139],"search":[140],"basis":[143],"popular":[147],"choice,":[148],"cause":[149],"greediness.":[150],"Finally,":[151],"show":[153],"thresholding":[156],"covisibility,":[157],"user":[159],"can":[160],"trade-off":[161],"improved":[164],"early":[165],"performance.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
