{"id":"https://openalex.org/W4391422750","doi":"https://doi.org/10.1109/icar58858.2023.10406720","title":"Learning Heuristics for Efficient Environment Exploration Using Graph Neural Networks","display_name":"Learning Heuristics for Efficient Environment Exploration Using Graph Neural Networks","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4391422750","doi":"https://doi.org/10.1109/icar58858.2023.10406720"},"language":"en","primary_location":{"id":"doi:10.1109/icar58858.2023.10406720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar58858.2023.10406720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.iris.sssup.it/bitstream/11382/564074/1/Learning_Heuristics_for_Efficient_Environment_Exploration_Using_Graph_Neural_Networks.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070894821","display_name":"Edwin Paul Herrera Alarcon","orcid":"https://orcid.org/0000-0003-2175-3143"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["IT","US"],"is_corresponding":true,"raw_author_name":"Edwin P. Herrera-Alarc\u00f3n","raw_affiliation_strings":["New York University, Tandon School of Engineering,Brooklyn,NY,USA,11201","Department of Excellence in Robotics and A.I., Perceptual Robotics Laboratory, The IIM Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"New York University, Tandon School of Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Department of Excellence in Robotics and A.I., Perceptual Robotics Laboratory, The IIM Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016700966","display_name":"Gabriele Baris","orcid":"https://orcid.org/0000-0002-1721-9055"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Baris","raw_affiliation_strings":["The IIM Institute, Scuola Superiore Sant&#x0027;Anna,Perceptual Robotics Laboratory,Department of Excellence in Robotics and A.I.,Pisa,Italy,56100"],"affiliations":[{"raw_affiliation_string":"The IIM Institute, Scuola Superiore Sant&#x0027;Anna,Perceptual Robotics Laboratory,Department of Excellence in Robotics and A.I.,Pisa,Italy,56100","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088059315","display_name":"Massimo Satler","orcid":"https://orcid.org/0000-0001-6731-3114"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Satler","raw_affiliation_strings":["The IIM Institute, Scuola Superiore Sant&#x0027;Anna,Perceptual Robotics Laboratory,Department of Excellence in Robotics and A.I.,Pisa,Italy,56100"],"affiliations":[{"raw_affiliation_string":"The IIM Institute, Scuola Superiore Sant&#x0027;Anna,Perceptual Robotics Laboratory,Department of Excellence in Robotics and A.I.,Pisa,Italy,56100","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086535808","display_name":"Carlo Alberto Avizzano","orcid":"https://orcid.org/0000-0001-5802-541X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo A. Avizzano","raw_affiliation_strings":["The IIM Institute, Scuola Superiore Sant&#x0027;Anna,Perceptual Robotics Laboratory,Department of Excellence in Robotics and A.I.,Pisa,Italy,56100"],"affiliations":[{"raw_affiliation_string":"The IIM Institute, Scuola Superiore Sant&#x0027;Anna,Perceptual Robotics Laboratory,Department of Excellence in Robotics and A.I.,Pisa,Italy,56100","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["New York University, Tandon School of Engineering,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University, Tandon School of Engineering,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070894821"],"corresponding_institution_ids":["https://openalex.org/I162290304","https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":0.2449,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56062348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"86","last_page":"93"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7179492115974426},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6571798920631409},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6187628507614136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5821242928504944},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5592860579490662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5292294025421143},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.42398107051849365},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4149252474308014},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.38313496112823486},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3807659447193146}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7179492115974426},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6571798920631409},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6187628507614136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5821242928504944},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5592860579490662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5292294025421143},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.42398107051849365},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4149252474308014},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.38313496112823486},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3807659447193146},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar58858.2023.10406720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar58858.2023.10406720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/564074","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/564074","pdf_url":"https://www.iris.sssup.it/bitstream/11382/564074/1/Learning_Heuristics_for_Efficient_Environment_Exploration_Using_Graph_Neural_Networks.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.iris.sssup.it:11382/564074","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/564074","pdf_url":"https://www.iris.sssup.it/bitstream/11382/564074/1/Learning_Heuristics_for_Efficient_Environment_Exploration_Using_Graph_Neural_Networks.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391422750.pdf","grobid_xml":"https://content.openalex.org/works/W4391422750.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W2076518796","https://openalex.org/W2098858511","https://openalex.org/W2119717200","https://openalex.org/W2283534560","https://openalex.org/W2409009991","https://openalex.org/W2465948386","https://openalex.org/W2769990600","https://openalex.org/W2788919350","https://openalex.org/W2803678703","https://openalex.org/W2810754063","https://openalex.org/W2811158378","https://openalex.org/W2912083425","https://openalex.org/W2912372166","https://openalex.org/W2949471801","https://openalex.org/W2962957005","https://openalex.org/W2963338060","https://openalex.org/W2973864946","https://openalex.org/W2991625383","https://openalex.org/W3026771511","https://openalex.org/W3034180589","https://openalex.org/W3086207594","https://openalex.org/W3089801158","https://openalex.org/W3090062608","https://openalex.org/W3094029947","https://openalex.org/W3100948105","https://openalex.org/W3109907338","https://openalex.org/W3120561889","https://openalex.org/W3130631955","https://openalex.org/W3133136962","https://openalex.org/W3151266447","https://openalex.org/W3191294005","https://openalex.org/W3201759799","https://openalex.org/W3205239453","https://openalex.org/W3207906202","https://openalex.org/W3211789630","https://openalex.org/W3214825189","https://openalex.org/W4205677764","https://openalex.org/W4206138072","https://openalex.org/W4210356871","https://openalex.org/W4212774754","https://openalex.org/W4213433509","https://openalex.org/W4231449374","https://openalex.org/W4283791212","https://openalex.org/W4293765645","https://openalex.org/W6736495275","https://openalex.org/W6748856961","https://openalex.org/W6758687306","https://openalex.org/W6779272202","https://openalex.org/W6803204836","https://openalex.org/W6910102666"],"related_works":["https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W3121175838","https://openalex.org/W3016293053","https://openalex.org/W1690653314","https://openalex.org/W2401723157","https://openalex.org/W2065055572","https://openalex.org/W2784269775","https://openalex.org/W2952904874"],"abstract_inverted_index":{"The":[0,109],"robot":[1,55,139],"exploration":[2,44,69,114,148,166],"problem":[3,19,71,105,120],"focuses":[4],"on":[5],"maximizing":[6],"the":[7,36,43,50,54,68,76,103,113,118,133,160,170,191,197],"volumetric":[8],"map":[9,52],"of":[10,178,190],"a":[11,17,47,89,142,146,151,163],"previously":[12],"unknown":[13],"environment.":[14,198],"This":[15],"is":[16],"relevant":[18],"in":[20,145,176],"several":[21],"applications,":[22],"such":[23],"as":[24],"search":[25],"and":[26,28,66,122],"rescue":[27],"monitoring,":[29],"which":[30],"require":[31],"autonomous":[32,107],"robots":[33],"to":[34,75,124,195],"examine":[35],"surroundings":[37],"efficiently.":[38],"Graph-based":[39],"planning":[40,165],"approaches":[41],"embed":[42],"information":[45],"into":[46],"graph":[48,77,126],"describing":[49],"global":[51],"while":[53],"incrementally":[56],"builds":[57],"it.":[58],"Nevertheless,":[59],"even":[60],"if":[61],"graph-based":[62],"representations":[63],"are":[64],"computational":[65],"memory-efficient,":[67],"decision-making":[70,104,119],"complexity":[72],"increases":[73],"according":[74],"size":[78],"that":[79,101,169],"grows":[80],"at":[81],"each":[82],"iteration.":[83],"In":[84],"this":[85],"paper,":[86],"we":[87],"propose":[88],"novel":[90],"Graph":[91],"Neural":[92],"Network":[93],"(GNN)":[94],"approach":[95,135,172,184],"trained":[96],"with":[97,136,141],"Reinforcement":[98],"Learning":[99],"(RL)":[100],"solves":[102],"for":[106,155],"exploration.":[108],"learned":[110],"policy":[111],"represents":[112],"expansion":[115],"criterion,":[116],"solving":[117],"efficiently":[121],"generalizing":[123],"different":[125],"topologies":[127],"and,":[128],"consequently,":[129],"environments.":[130],"We":[131,158],"validate":[132],"proposed":[134,171],"an":[137],"aerial":[138],"equipped":[140],"depth":[143],"camera":[144],"benchmark":[147],"scenario":[149],"using":[150],"high-performance":[152],"physics":[153],"engine":[154],"environment":[156],"rendering.":[157],"compare":[159],"results":[161],"against":[162],"state-of-the-art":[164],"algorithm,":[167],"showing":[168],"matches":[173],"its":[174,187],"performance":[175,188],"terms":[177],"explored":[179],"mapped":[180],"volume.":[181],"Additionally,":[182],"our":[183],"consistently":[185],"maintains":[186],"regardless":[189],"objective":[192],"function":[193],"used":[194],"explore":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
