{"id":"https://openalex.org/W2161372375","doi":"https://doi.org/10.1109/icra.2011.5980497","title":"Mission design for compressive sensing with mobile robots","display_name":"Mission design for compressive sensing with mobile robots","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2161372375","doi":"https://doi.org/10.1109/icra.2011.5980497","mag":"2161372375"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/78635","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080497057","display_name":"Robert A. Hummel","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Hummel","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040682275","display_name":"Sameera Poduri","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sameera Poduri","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043237290","display_name":"Franz S. Hover","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Franz Hover","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072739163","display_name":"Urbashi Mitra","orcid":"https://orcid.org/0000-0002-8896-1177"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Urbashi Mitra","raw_affiliation_strings":["Department of Electrical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":null,"display_name":"Guarav Sukhatme","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guarav Sukhatme","raw_affiliation_strings":["Department of Electrical Engineering and the Department of Computer Science, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and the Department of Computer Science, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7092,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.84694076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5659","issue":null,"first_page":"2362","last_page":"2367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11739","display_name":"Microwave Imaging and Scattering Analysis","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9984999895095825,"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/compressed-sensing","display_name":"Compressed sensing","score":0.76969313621521},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6608904600143433},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6372761726379395},{"id":"https://openalex.org/keywords/random-walk","display_name":"Random walk","score":0.6346025466918945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5753391981124878},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5251681208610535},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5186923742294312},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5045598745346069},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4854913055896759},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.48111456632614136},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42343753576278687},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3635595142841339},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35142040252685547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32302796840667725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30832427740097046},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1498921811580658},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.14301389455795288},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10064011812210083},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08949488401412964}],"concepts":[{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.76969313621521},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6608904600143433},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6372761726379395},{"id":"https://openalex.org/C121194460","wikidata":"https://www.wikidata.org/wiki/Q856741","display_name":"Random walk","level":2,"score":0.6346025466918945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5753391981124878},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5251681208610535},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5186923742294312},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5045598745346069},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4854913055896759},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.48111456632614136},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42343753576278687},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3635595142841339},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35142040252685547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32302796840667725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30832427740097046},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1498921811580658},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.14301389455795288},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10064011812210083},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08949488401412964},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/78635","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/78635","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/78635","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/78635","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W85781994","https://openalex.org/W301805053","https://openalex.org/W1514040736","https://openalex.org/W1537910145","https://openalex.org/W1555599194","https://openalex.org/W1590932131","https://openalex.org/W1967763923","https://openalex.org/W1973573057","https://openalex.org/W1985324531","https://openalex.org/W1988569331","https://openalex.org/W2067200085","https://openalex.org/W2068755143","https://openalex.org/W2101775636","https://openalex.org/W2106086387","https://openalex.org/W2117226423","https://openalex.org/W2120503472","https://openalex.org/W2131052843","https://openalex.org/W2131613989","https://openalex.org/W2134929491","https://openalex.org/W2136920274","https://openalex.org/W2145096794","https://openalex.org/W2150249649","https://openalex.org/W2156043924","https://openalex.org/W2181034166","https://openalex.org/W2296616510","https://openalex.org/W2611825160","https://openalex.org/W3150873836","https://openalex.org/W4250955649","https://openalex.org/W6603384214","https://openalex.org/W6610558371","https://openalex.org/W6635248412","https://openalex.org/W6677426919","https://openalex.org/W6681918002"],"related_works":["https://openalex.org/W2158224665","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"mission":[3],"design":[4,93],"strategies":[5],"for":[6,95],"mobile":[7],"robots":[8],"whose":[9],"task":[10],"is":[11,43,56,75,86],"to":[12,28,59,91,107],"perform":[13],"spatial":[14,50],"sampling":[15],"of":[16,24,46,48],"a":[17,53,100,104,113],"static":[18],"environmental":[19],"field,":[20],"in":[21,52],"the":[22,44,49,60,129,143],"framework":[23],"compressive":[25],"sensing.":[26],"According":[27],"this":[29,68],"theory,":[30],"we":[31],"can":[32,123],"reconstruct":[33],"compressible":[34],"fields":[35],"using":[36],"O(log":[37],"n)":[38],"nonadaptive":[39],"measurements":[40,66],"(where":[41],"n":[42],"number":[45],"sites":[47],"domain),":[51],"basis":[54,62],"that":[55],"\"in":[57],"coherent\"":[58],"representation":[61],"[1];":[63],"random":[64,102,110,144],"uncorrelated":[65],"satisfy":[67],"incoherence":[69],"requirement.":[70],"Because":[71],"an":[72,87,148],"autonomous":[73],"vehicle":[74],"kinematically":[76],"constrained":[77],"and":[78,82,112],"has":[79],"finite":[80],"energy":[81],"communication":[83],"resources,":[84],"it":[85],"open":[88],"question":[89],"how":[90],"best":[92],"missions":[94],"CS":[96],"reconstruction.":[97],"We":[98],"compare":[99],"two-dimensional":[101],"walk,":[103],"TSP":[105],"approximation":[106],"pass":[108],"through":[109],"points,":[111],"randomized":[114],"boustrophedon":[115],"(lawnmower)":[116],"strategy.":[117],"Not":[118],"unexpectedly,":[119],"all":[120],"three":[121],"approaches":[122],"yield":[124],"comparable":[125],"reconstruction":[126],"performance":[127],"if":[128,135],"planning":[130,136],"horizons":[131],"are":[132],"long":[133],"enough;":[134],"occurs":[137],"only":[138],"over":[139],"short":[140],"time":[141],"scales,":[142],"walk":[145],"will":[146],"have":[147],"advantage.":[149]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
