{"id":"https://openalex.org/W2063277103","doi":"https://doi.org/10.1109/icra.2013.6630813","title":"Improving the efficiency of online POMDPs by using belief similarity measures","display_name":"Improving the efficiency of online POMDPs by using belief similarity measures","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2063277103","doi":"https://doi.org/10.1109/icra.2013.6630813","mag":"2063277103"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5068231844","display_name":"Joaqu\u00edn Ballesteros","orcid":"https://orcid.org/0000-0003-3053-2414"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Joaquin Ballesteros","raw_affiliation_strings":["University of Seville, Seville, Spain","Univ. OF SEVILLE, Seville, Spain"],"affiliations":[{"raw_affiliation_string":"University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Univ. OF SEVILLE, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Merino","raw_affiliation_strings":["Pablo de Olavide Univ., Seville, Spain","[Pablo de Olavide Univ., Seville, Spain]"],"affiliations":[{"raw_affiliation_string":"Pablo de Olavide Univ., Seville, Spain","institution_ids":["https://openalex.org/I95013407"]},{"raw_affiliation_string":"[Pablo de Olavide Univ., Seville, Spain]","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007486766","display_name":"M. A. Trujillo","orcid":"https://orcid.org/0000-0001-6065-2949"},"institutions":[{"id":"https://openalex.org/I4210137040","display_name":"Center for Advanced Aerospace Technologies","ror":"https://ror.org/03meb8t18","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210137040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel Angel Trujillo","raw_affiliation_strings":["Centre for Advanced Aerospace Technologies, Spain","Centre for Adv. Aerosp. Technol., La Rinconada, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Advanced Aerospace Technologies, Spain","institution_ids":["https://openalex.org/I4210137040"]},{"raw_affiliation_string":"Centre for Adv. Aerosp. Technol., La Rinconada, Spain","institution_ids":["https://openalex.org/I4210137040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056465127","display_name":"Antidio Viguria","orcid":"https://orcid.org/0000-0003-4193-9965"},"institutions":[{"id":"https://openalex.org/I4210137040","display_name":"Center for Advanced Aerospace Technologies","ror":"https://ror.org/03meb8t18","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210137040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antidio Viguria","raw_affiliation_strings":["Centre for Advanced Aerospace Technologies, Spain","Centre for Adv. Aerosp. Technol., La Rinconada, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Advanced Aerospace Technologies, Spain","institution_ids":["https://openalex.org/I4210137040"]},{"raw_affiliation_string":"Centre for Adv. Aerosp. Technol., La Rinconada, Spain","institution_ids":["https://openalex.org/I4210137040"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I4210137040","display_name":"Center for Advanced Aerospace Technologies","ror":"https://ror.org/03meb8t18","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210137040"]},{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Anibal Ollero","raw_affiliation_strings":["Centre for Advanced Aerospace Technologies, Spain","Univ. OF SEVILLE, Seville, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Advanced Aerospace Technologies, Spain","institution_ids":["https://openalex.org/I4210137040"]},{"raw_affiliation_string":"Univ. OF SEVILLE, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5068231844"],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":0.8165,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76813688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"13","issue":null,"first_page":"1792","last_page":"1798"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9987999796867371,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9950000047683716,"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/benchmark","display_name":"Benchmark (surveying)","score":0.6649336814880371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.654952883720398},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.6302278637886047},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5958763360977173},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.5940819382667542},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5284856557846069},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5207488536834717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4416664242744446},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43872344493865967},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.4141112267971039},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3817686438560486},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3709993064403534},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.36814212799072266},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34217581152915955},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3233550488948822},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24369800090789795}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6649336814880371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654952883720398},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.6302278637886047},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5958763360977173},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.5940819382667542},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5284856557846069},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5207488536834717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4416664242744446},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43872344493865967},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.4141112267971039},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3817686438560486},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3709993064403534},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.36814212799072266},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34217581152915955},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3233550488948822},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24369800090789795},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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":30,"referenced_works":["https://openalex.org/W53892758","https://openalex.org/W135762054","https://openalex.org/W1532688806","https://openalex.org/W1573082642","https://openalex.org/W1608944489","https://openalex.org/W1964587228","https://openalex.org/W2030131362","https://openalex.org/W2070264454","https://openalex.org/W2099430963","https://openalex.org/W2102663728","https://openalex.org/W2132481658","https://openalex.org/W2134802714","https://openalex.org/W2138183512","https://openalex.org/W2144913588","https://openalex.org/W2146950091","https://openalex.org/W2156676156","https://openalex.org/W2158907787","https://openalex.org/W2168359464","https://openalex.org/W2287282975","https://openalex.org/W2294827575","https://openalex.org/W2901136733","https://openalex.org/W3101822862","https://openalex.org/W6605525015","https://openalex.org/W6631864160","https://openalex.org/W6636587001","https://openalex.org/W6657824506","https://openalex.org/W6674541415","https://openalex.org/W6675170775","https://openalex.org/W6679977494","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2789480285","https://openalex.org/W1971267722","https://openalex.org/W2402589461","https://openalex.org/W3094979732","https://openalex.org/W2037710955","https://openalex.org/W183780713","https://openalex.org/W2049361636","https://openalex.org/W1971361861","https://openalex.org/W2131923625","https://openalex.org/W2810821464"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"introduce":[4],"an":[5],"approach":[6,20,142],"called":[7],"FSBS":[8],"(Forward":[9],"Search":[10],"in":[11,17,45,59,105,122,148,170],"Belief":[12,27],"Space)":[13],"for":[14,152],"online":[15],"planning":[16],"POMDPs.":[18],"The":[19,33,124,162],"is":[21,39,69,89],"based":[22],"on":[23],"the":[24,37,40,46,54,60,93,96,106,115,127,141,149,159],"RTBSS":[25],"(Real-Time":[26],"Space":[28],"Search)":[29],"algorithm":[30,38],"of":[31,42,95,111,118],"[1].":[32],"main":[34],"departure":[35],"from":[36],"introduction":[41],"similarity":[43,55],"measures":[44],"belief":[47,57,76],"space.":[48],"By":[49],"considering":[50],"statistical":[51],"divergence":[52,132],"measures,":[53],"between":[56],"points":[58],"forward":[61],"search":[62,97,172],"tree":[63],"can":[64,143],"be":[65],"computed.":[66],"Therefore,":[67],"it":[68,88],"possible":[70,90,114],"to":[71,91,138,158],"determine":[72],"if":[73],"a":[74,145,168,171],"certain":[75],"point":[77],"(or":[78],"one":[79],"very":[80],"similar)":[81],"has":[82],"been":[83],"already":[84,103],"visited.":[85],"This":[86,109],"way,":[87],"reduce":[92],"complexity":[94,112],"by":[98],"not":[99],"expanding":[100],"similar":[101,153],"nodes":[102],"visited":[104],"same":[107],"depth.":[108],"reduction":[110,147],"makes":[113],"real-time":[116],"implementation":[117],"more":[119],"complex":[120],"problems":[121,135],"robots.":[123],"paper":[125,163],"describes":[126],"algorithm,":[128],"and":[129],"analyzes":[130],"different":[131],"measures.":[133],"Benchmark":[134],"are":[136],"used":[137],"show":[139],"how":[140],"obtain":[144],"ten-fold":[146],"computation":[150],"time":[151],"obtained":[154],"rewards":[155],"when":[156],"compared":[157],"original":[160],"RTBSS.":[161],"also":[164],"presents":[165],"experiments":[166],"with":[167],"quadrotor":[169],"application.":[173]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"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"}