{"id":"https://openalex.org/W2046548871","doi":"https://doi.org/10.1109/icarcv.2012.6485234","title":"A new gain function for compact exploration","display_name":"A new gain function for compact exploration","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2046548871","doi":"https://doi.org/10.1109/icarcv.2012.6485234","mag":"2046548871"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2012.6485234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2012.6485234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th International Conference on Control Automation Robotics &amp; Vision (ICARCV)","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/A5089646749","display_name":"P.G.C.N. Senarathne","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"P.G.C.N. Senarathne","raw_affiliation_strings":["EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798"],"affiliations":[{"raw_affiliation_string":"EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083472752","display_name":"Danwei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798"],"affiliations":[{"raw_affiliation_string":"EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100452641","display_name":"Han Wang","orcid":"https://orcid.org/0000-0001-5448-9903"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798"],"affiliations":[{"raw_affiliation_string":"EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"EXQUISITUS, Center for E-City, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089646749"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.08176473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"650","last_page":"655"},"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":0.9998999834060669,"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/T12288","display_name":"Optimization and Search Problems","score":0.9944999814033508,"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/terrain","display_name":"Terrain","score":0.7805815935134888},{"id":"https://openalex.org/keywords/information-gain","display_name":"Information gain","score":0.7176196575164795},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6636035442352295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6308603882789612},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.6001059412956238},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5499602556228638},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5359595417976379},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.46920791268348694},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40897345542907715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30114462971687317},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11028948426246643}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7805815935134888},{"id":"https://openalex.org/C2983203078","wikidata":"https://www.wikidata.org/wiki/Q255166","display_name":"Information gain","level":2,"score":0.7176196575164795},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6636035442352295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6308603882789612},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.6001059412956238},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5499602556228638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5359595417976379},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.46920791268348694},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40897345542907715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30114462971687317},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11028948426246643},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2012.6485234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2012.6485234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th International Conference on Control Automation Robotics &amp; Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/96856","is_oa":false,"landing_page_url":"http://hdl.handle.net/10220/11698","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W156953499","https://openalex.org/W1832534480","https://openalex.org/W1999250663","https://openalex.org/W2012806873","https://openalex.org/W2031369387","https://openalex.org/W2089437550","https://openalex.org/W2097189134","https://openalex.org/W2107667896","https://openalex.org/W2113739894","https://openalex.org/W2135524320","https://openalex.org/W2336416123","https://openalex.org/W6638704531","https://openalex.org/W6679917330"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"Trade-off":[0],"between":[1],"the":[2,23,29,54,75,94,97],"information":[3],"gain":[4,37,76,99],"and":[5,82,89],"cost":[6,43],"has":[7,40],"been":[8],"extensively":[9],"used":[10,48],"as":[11],"an":[12,41,70],"evaluation":[13],"criteria":[14],"for":[15,87],"target":[16],"points":[17],"in":[18,49,56,60,79,101],"robot":[19],"exploration":[20,50,91],"strategies":[21,51,92],"where":[22],"primary":[24],"goal":[25],"is":[26],"to":[27,52,63,72],"reduce":[28],"mission":[30],"time.":[31],"This":[32],"article":[33],"introduces":[34],"a":[35,57],"new":[36,98],"function":[38,100],"that":[39,45],"integrated":[42],"component":[44],"can":[46],"be":[47],"map":[53],"terrain":[55],"balanced":[58],"way":[59],"all":[61],"directions":[62],"generate":[64],"compact":[65,103],"maps.":[66,104],"Article":[67],"also":[68],"presents":[69],"approach":[71],"efficiently":[73],"calculate":[74],"values.":[77],"Simulations":[78],"both":[80],"low":[81],"high":[83],"obstacle":[84],"density":[85],"environments":[86],"single":[88],"multi-robot":[90],"indicate":[93],"utility":[95],"of":[96],"generating":[102]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
