{"id":"https://openalex.org/W2068945175","doi":"https://doi.org/10.1109/icra.2014.6906602","title":"Robust online belief space planning in changing environments: Application to physical mobile robots","display_name":"Robust online belief space planning in changing environments: Application to physical mobile robots","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2068945175","doi":"https://doi.org/10.1109/icra.2014.6906602","mag":"2068945175"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"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":true,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["Laboratory for Information and Decision Systems, MIT, Cambridge, MA","Laboratory for Information and Decision Systems, MIT, Cambridge, MA, 02139"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, MIT, Cambridge, MA","institution_ids":[]},{"raw_affiliation_string":"Laboratory for Information and Decision Systems, MIT, Cambridge, MA, 02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103263542","display_name":"Saurav Agarwal","orcid":"https://orcid.org/0000-0003-1598-5060"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saurav Agarwal","raw_affiliation_strings":["Laboratory for Information and Decision Systems, MIT, Cambridge, MA","Dept. of Aerospace Engineering, and Mahadevan, Tomkins, Denny"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, MIT, Cambridge, MA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Aerospace Engineering, and Mahadevan, Tomkins, Denny","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051721157","display_name":"Aditya Mahadevan","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aditya Mahadevan","raw_affiliation_strings":["Laboratory for Information and Decision Systems, MIT, Cambridge, MA","Texas A&M University, College Station, United States"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, MIT, Cambridge, MA","institution_ids":[]},{"raw_affiliation_string":"Texas A&M University, College Station, United States","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061286389","display_name":"Suman Chakravorty","orcid":"https://orcid.org/0000-0003-3074-3406"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suman Chakravorty","raw_affiliation_strings":["Dept. of Aerospace Engineering","Dept. of Aerospace Engineering, and Mahadevan, Tomkins, Denny"],"affiliations":[{"raw_affiliation_string":"Dept. of Aerospace Engineering","institution_ids":[]},{"raw_affiliation_string":"Dept. of Aerospace Engineering, and Mahadevan, Tomkins, Denny","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024606228","display_name":"Daniel Tomkins","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Tomkins","raw_affiliation_strings":["Dept. of Computer Science and Engineering Texas, A&M University, TX, USA","Texas A&M University, College Station, United States"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering Texas, A&M University, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Texas A&M University, College Station, United States","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028018354","display_name":"Jory Denny","orcid":"https://orcid.org/0000-0002-1642-0005"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jory Denny","raw_affiliation_strings":["Dept. of Computer Science and Engineering Texas, A&M University, TX, USA","Texas A&M University, College Station, United States"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering Texas, A&M University, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Texas A&M University, College Station, United States","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050205557","display_name":"Nancy M. Amato","orcid":"https://orcid.org/0000-0001-5817-5290"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy M. Amato","raw_affiliation_strings":["Dept. of Computer Science and Engineering Texas, A&M University, TX, USA","Department of Computer Science and Engineering, Texas A&M University, TX 77843, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering Texas, A&M University, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, TX 77843, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5042186658"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.707,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.94709122,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"149","last_page":"156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9957000017166138,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9954000115394592,"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/motion-planning","display_name":"Motion planning","score":0.7053622007369995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6886802911758423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6885340809822083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6734482049942017},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6577975749969482},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5737178325653076},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5387872457504272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4961298406124115},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4637829065322876},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45237550139427185},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4306766986846924},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34846779704093933},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1489238142967224}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7053622007369995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6886802911758423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6885340809822083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6734482049942017},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6577975749969482},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5737178325653076},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5387872457504272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4961298406124115},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4637829065322876},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45237550139427185},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4306766986846924},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34846779704093933},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1489238142967224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2014.6906602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.kaust.edu.sa:10754/599525","is_oa":false,"landing_page_url":"http://repository.kaust.edu.sa/kaust/handle/10754/599525","pdf_url":null,"source":{"id":"https://openalex.org/S4306401596","display_name":"King Abdullah University of Science and Technology Repository (King Abdullah University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71920554","host_organization_name":"King Abdullah University of Science and Technology","host_organization_lineage":["https://openalex.org/I71920554"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.431.4470","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.431.4470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://parasol.tamu.edu/publications/download.php?file_id=858","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.711.8776","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.711.8776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.mit.edu/%7Ealiagha/Web/pubpdfs/2014.Ali.Agarwal.ea.ICRA_RHC.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"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":34,"referenced_works":["https://openalex.org/W2214249","https://openalex.org/W156315979","https://openalex.org/W1529817735","https://openalex.org/W1532688806","https://openalex.org/W1937587174","https://openalex.org/W1999839266","https://openalex.org/W2000918024","https://openalex.org/W2002201291","https://openalex.org/W2034725503","https://openalex.org/W2053833381","https://openalex.org/W2077135437","https://openalex.org/W2087179560","https://openalex.org/W2098432798","https://openalex.org/W2099430963","https://openalex.org/W2103052138","https://openalex.org/W2104778363","https://openalex.org/W2126456773","https://openalex.org/W2146001329","https://openalex.org/W2152907147","https://openalex.org/W2156676156","https://openalex.org/W2158907787","https://openalex.org/W2159722616","https://openalex.org/W2168359464","https://openalex.org/W2168992242","https://openalex.org/W2171212676","https://openalex.org/W2305373430","https://openalex.org/W2336416123","https://openalex.org/W2963889160","https://openalex.org/W3101822862","https://openalex.org/W6606384351","https://openalex.org/W6631864160","https://openalex.org/W6636732284","https://openalex.org/W6674541415","https://openalex.org/W6675685508"],"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/W4380590094"],"abstract_inverted_index":{"Motion":[0],"planning":[1,37,160],"in":[2,38,56,84,99,104,114,135,148],"belief":[3,39,48,58,85,136,158],"space":[4,40,49,59,86,137,159],"(under":[5],"motion":[6,167],"and":[7,41,71,151],"sensing":[8],"uncertainty)":[9],"is":[10,144,161],"a":[11,43,80,139,162],"challenging":[12],"problem":[13],"due":[14],"to":[15,61,87,95,128,146],"the":[16,66,100,105,115,119,130,149],"computational":[17,69],"intractability":[18],"of":[19,47],"its":[20],"exact":[21],"solution.":[22],"The":[23],"Feedback-based":[24],"Information":[25],"RoadMap":[26],"(FIRM)":[27],"framework":[28],"made":[29],"an":[30],"important":[31],"theoretical":[32],"step":[33],"toward":[34],"enabling":[35],"roadmap-based":[36],"provided":[42],"computationally":[44],"tractable":[45],"version":[46],"planning.":[50,168],"However,":[51],"there":[52],"are":[53],"still":[54],"challenges":[55],"applying":[57],"planners":[60],"physical":[62,73,140],"systems,":[63],"such":[64,89],"as":[65,108,110],"discrepancy":[67],"between":[68],"models":[70],"real":[72],"models.":[74],"In":[75],"this":[76],"paper,":[77],"we":[78,92],"propose":[79],"dynamic":[81],"replanning":[82,133],"scheme":[83,134],"address":[88],"challenges.":[90],"Moreover,":[91],"present":[93],"techniques":[94,127],"cope":[96],"with":[97],"changes":[98,103,147],"environment":[101,150],"(e.g.,":[102,118],"obstacle":[106],"map),":[107],"well":[109],"unforeseen":[111],"large":[112,152],"deviations":[113],"robot's":[116],"location":[117],"kidnapped":[120],"robot":[121,142,166],"problem).":[122],"We":[123],"then":[124],"utilize":[125],"these":[126],"implement":[129],"first":[131],"online":[132],"on":[138],"mobile":[141],"that":[143,157],"robust":[145],"disturbances.":[153],"This":[154],"method":[155],"demonstrates":[156],"practical":[163],"tool":[164],"for":[165]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
