{"id":"https://openalex.org/W2004735830","doi":"https://doi.org/10.1109/icra.2012.6224652","title":"Modelling search with a binary sensor utilizing self-conjugacy of the exponential family","display_name":"Modelling search with a binary sensor utilizing self-conjugacy of the exponential family","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2004735830","doi":"https://doi.org/10.1109/icra.2012.6224652","mag":"2004735830"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5085200929","display_name":"Devin Bonnie","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Devin Bonnie","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois, USA","Department of Electrical and Computer Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079593012","display_name":"Salvatore Candido","orcid":"https://orcid.org/0000-0002-5847-0617"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Salvatore Candido","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois, USA","Department of Electrical and Computer Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090037830","display_name":"Timothy Bretl","orcid":"https://orcid.org/0000-0001-7883-7300"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy Bretl","raw_affiliation_strings":["Department of AeroSpace Engineering, University of Illinois, USA","Department of Aerospace Engineering at the University of Illinois, USA"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, University of Illinois, USA","institution_ids":["https://openalex.org/I39422238"]},{"raw_affiliation_string":"Department of Aerospace Engineering at the University of Illinois, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071296935","display_name":"Seth Hutchinson","orcid":"https://orcid.org/0000-0002-3949-6061"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seth Hutchinson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois, USA","Department of Electrical and Computer Engineering, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085200929"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.8563,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.78219336,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"6","issue":null,"first_page":"3975","last_page":"3982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9937999844551086,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9937999844551086,"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/T13187","display_name":"Diffusion and Search Dynamics","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9718000292778015,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exponential-family","display_name":"Exponential family","score":0.7135361433029175},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5021424293518066},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4987516403198242},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.4629422426223755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4603756070137024},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.43492627143859863},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.43258532881736755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4228579103946686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39656031131744385},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37429654598236084},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3606244921684265},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35861819982528687},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3455742299556732},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13651573657989502}],"concepts":[{"id":"https://openalex.org/C55974624","wikidata":"https://www.wikidata.org/wiki/Q1188504","display_name":"Exponential family","level":2,"score":0.7135361433029175},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5021424293518066},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4987516403198242},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.4629422426223755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4603756070137024},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.43492627143859863},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.43258532881736755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4228579103946686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39656031131744385},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37429654598236084},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3606244921684265},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35861819982528687},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3455742299556732},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13651573657989502},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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":1,"locations":[{"id":"doi:10.1109/icra.2012.6224652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W101015759","https://openalex.org/W1483307070","https://openalex.org/W1501567504","https://openalex.org/W1544032329","https://openalex.org/W1560347735","https://openalex.org/W1607518389","https://openalex.org/W1987736941","https://openalex.org/W2015425837","https://openalex.org/W2031168329","https://openalex.org/W2069045878","https://openalex.org/W2096765209","https://openalex.org/W2105777181","https://openalex.org/W2116328523","https://openalex.org/W2117928809","https://openalex.org/W2144678962","https://openalex.org/W2151886472","https://openalex.org/W2160337655","https://openalex.org/W2326857847","https://openalex.org/W2336416123","https://openalex.org/W4232632925","https://openalex.org/W4247965981","https://openalex.org/W4285719527","https://openalex.org/W6654112610","https://openalex.org/W6674201379","https://openalex.org/W6677089490","https://openalex.org/W6677848280"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2083129711"],"abstract_inverted_index":{"In":[0],"this":[1,134],"paper,":[2],"we":[3,136],"consider":[4,32],"the":[5,26,33,53,62,65,68,77,86,91,97,113,118,121,126,131,156],"problem":[6],"of":[7,35,61,89,106,112,120,128,158],"an":[8,109,138],"autonomous":[9],"robot":[10,42,66],"searching":[11],"for":[12,96,151],"a":[13,21,36,41,45,59,102,162],"target":[14,54,69],"object":[15,29,55,78,98],"whose":[16,49],"position":[17],"is":[18],"characterized":[19],"by":[20],"prior":[22,79],"probability":[23,94],"distribution":[24],"over":[25],"workspace":[27],"(the":[28,70],"prior).":[30],"We":[31,73,147],"case":[34],"continuous":[37],"search":[38,165],"domain,":[39],"and":[40,80],"equipped":[43],"with":[44,125],"single":[46],"binary":[47],"sensor":[48,71,81],"ability":[50],"to":[51,67,101,154],"recognize":[52],"varies":[56],"probabilistically":[57],"as":[58],"function":[60],"distance":[63],"from":[64,85],"model).":[72],"show":[74],"that":[75,141],"when":[76],"model":[82],"are":[83],"taken":[84],"exponential":[87],"family":[88],"distributions,":[90],"searcher's":[92,114],"posterior":[93],"map":[95],"location":[99],"belongs":[100],"finitely":[103],"parameterizable":[104],"class":[105],"functions,":[107],"admitting":[108],"exact":[110],"representation":[111,122],"evolving":[115],"belief.":[116],"Unfortunately,":[117],"cost":[119],"grows":[123],"exponentially":[124],"number":[127],"stages":[129],"in":[130],"search.":[132],"For":[133],"reason,":[135],"develop":[137],"approximation":[139],"scheme":[140],"exploits":[142],"regularized":[143],"particle":[144],"filtering":[145],"methods.":[146],"present":[148],"simulation":[149],"studies":[150],"several":[152],"scenarios":[153],"demonstrate":[155],"effectiveness":[157],"our":[159],"approach":[160],"using":[161],"simple,":[163],"greedy":[164],"strategy.":[166]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}