{"id":"https://openalex.org/W4236236480","doi":"https://doi.org/10.1109/icra.2014.6907240","title":"Fully autonomous focused exploration for robotic environmental monitoring","display_name":"Fully autonomous focused exploration for robotic environmental monitoring","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W4236236480","doi":"https://doi.org/10.1109/icra.2014.6907240"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907240","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":"conference-paper","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/A5009209381","display_name":"Gregory Hitz","orcid":"https://orcid.org/0000-0001-6339-3532"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gregory Hitz","raw_affiliation_strings":["Autonomous Systems Lab-ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005116939","display_name":"Alkis Gotovos","orcid":"https://orcid.org/0000-0002-3902-8890"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alkis Gotovos","raw_affiliation_strings":["Learning & Adaptive Systems Group-ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning & Adaptive Systems Group-ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091016001","display_name":"Fran\u00e7ois Pomerleau","orcid":"https://orcid.org/0000-0003-1288-2744"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Franccois Pomerleau","raw_affiliation_strings":["Autonomous Systems Lab-ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070472805","display_name":"Marie\u2010\u00c8ve Garneau","orcid":null},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I4210117775","display_name":"Sanatorium Kilchberg","ror":"https://ror.org/02dv2bn85","country_code":"CH","type":"healthcare","lineage":["https://openalex.org/I4210117775"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marie-Eve Garneau","raw_affiliation_strings":["Limnological Station Kilchberg-University of Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Limnological Station Kilchberg-University of Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I4210117775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045309524","display_name":"C\u00e9dric Pradalier","orcid":"https://orcid.org/0000-0002-1746-2733"},"institutions":[{"id":"https://openalex.org/I1288283403","display_name":"Georgia Tech Lorraine","ror":"https://ror.org/02m5dy175","country_code":"FR","type":"education","lineage":["https://openalex.org/I1288283403"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cedric Pradalier","raw_affiliation_strings":["DREAM Lab-GeorgiaTech Lorraine, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DREAM Lab-GeorgiaTech Lorraine, France","institution_ids":["https://openalex.org/I1288283403"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003040843","display_name":"Andreas Krause","orcid":"https://orcid.org/0000-0001-7260-9673"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andreas Krause","raw_affiliation_strings":["Learning & Adaptive Systems Group-ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning & Adaptive Systems Group-ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Y. Siegwart","raw_affiliation_strings":["Autonomous Systems Lab-ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.8187,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.99241257,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2658","last_page":"2664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9911999702453613,"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/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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":0.6385705471038818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6308397054672241},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.6179159879684448},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5722482204437256},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5084465742111206},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5000064373016357},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.49261265993118286},{"id":"https://openalex.org/keywords/threshold-limit-value","display_name":"Threshold limit value","score":0.47655466198921204},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45729199051856995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3942679166793823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3628353774547577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3534890115261078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2912030816078186},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21817544102668762},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11138054728507996}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6385705471038818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6308397054672241},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.6179159879684448},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5722482204437256},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5084465742111206},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5000064373016357},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.49261265993118286},{"id":"https://openalex.org/C64413873","wikidata":"https://www.wikidata.org/wiki/Q21005","display_name":"Threshold limit value","level":2,"score":0.47655466198921204},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45729199051856995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3942679166793823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3628353774547577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3534890115261078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2912030816078186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21817544102668762},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11138054728507996},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907240","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.5199999809265137,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1497766243","https://openalex.org/W1530718350","https://openalex.org/W1973760744","https://openalex.org/W2050179365","https://openalex.org/W2066291790","https://openalex.org/W2072931689","https://openalex.org/W2081643758","https://openalex.org/W2104612633","https://openalex.org/W2124294571","https://openalex.org/W2125187205","https://openalex.org/W2131052843","https://openalex.org/W2135484546","https://openalex.org/W2161674001","https://openalex.org/W2166295994","https://openalex.org/W2169528473","https://openalex.org/W2796739798","https://openalex.org/W3003506411","https://openalex.org/W4211049957","https://openalex.org/W6631084031","https://openalex.org/W6631546570","https://openalex.org/W6679370120","https://openalex.org/W6679608865","https://openalex.org/W6679621128"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"Robotic":[0],"sensors":[1],"are":[2],"promising":[3],"instruments":[4],"for":[5,68],"monitoring":[6,96],"spatial":[7,49],"phenomena.":[8],"Oftentimes,":[9],"rather":[10],"than":[11],"aiming":[12],"to":[13,42,72,109,119,123],"achieve":[14],"low":[15],"prediction":[16],"error":[17],"everywhere,":[18],"one":[19],"is":[20,107],"interested":[21],"in":[22,70,93],"determining":[23],"whether":[24,44],"the":[25,36,47,78,100,103,111,114],"phenomenon":[26],"exhibits":[27],"certain":[28],"critical":[29],"behavior.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34],"consider":[35],"problem":[37],"of":[38,102,117],"focusing":[39],"autonomous":[40,84],"sampling":[41],"determine":[43],"and":[45],"where":[46],"sensed":[48],"field":[50,85],"exceeds":[51],"a":[52,58],"given":[53],"threshold":[54,79,115],"value.":[55,80],"We":[56,81],"introduce":[57],"receding":[59],"horizon":[60],"path":[61],"planner,":[62],"LSE-DP,":[63],"which":[64,98],"plans":[65],"efficient":[66],"paths":[67],"sensing":[69],"order":[71],"reduce":[73,110],"our":[74],"uncertainty":[75,112],"specifically":[76],"around":[77,113],"report":[82],"fully":[83],"experiments":[86],"with":[87],"an":[88,94],"Autonomous":[89],"Surface":[90],"Vessel":[91],"(ASV)":[92],"aquatic":[95],"setting,":[97],"demonstrate":[99],"effectiveness":[101],"proposed":[104],"method.":[105],"LSE-DP":[106],"able":[108],"value":[116],"interest":[118],"68%":[120],"when":[121],"compared":[122],"non-adaptive":[124],"methods.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
