{"id":"https://openalex.org/W1986946501","doi":"https://doi.org/10.1109/icra.2014.6907832","title":"Area coverage planning that accounts for pose uncertainty with an AUV seabed surveying application","display_name":"Area coverage planning that accounts for pose uncertainty with an AUV seabed surveying application","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1986946501","doi":"https://doi.org/10.1109/icra.2014.6907832","mag":"1986946501"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907832","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907832","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/A5037065865","display_name":"Liam Paull","orcid":"https://orcid.org/0000-0003-2492-6660"},"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":"Liam Paull","raw_affiliation_strings":["Computer Science and AI Lab, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA","Computer Science and AI Lab at Massachusetts Institute of Technology in Cambridge, Massachusetts, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and AI Lab, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and AI Lab at Massachusetts Institute of Technology in Cambridge, Massachusetts, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032455915","display_name":"Mae Seto","orcid":"https://orcid.org/0000-0002-7835-981X"},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"funder","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]},{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Mae Seto","raw_affiliation_strings":["Mine and Harbour Defense Group, Defense R&D Canada, Dartmouth, Nova Scotia, Canada","Mine and Harbour Defense Group, Defense R&D Canada in Dartmouth, Nova Scotia, Canada"],"affiliations":[{"raw_affiliation_string":"Mine and Harbour Defense Group, Defense R&D Canada, Dartmouth, Nova Scotia, Canada","institution_ids":["https://openalex.org/I1297460800"]},{"raw_affiliation_string":"Mine and Harbour Defense Group, Defense R&D Canada in Dartmouth, Nova Scotia, Canada","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5120311988","display_name":"Howard Li","orcid":"https://orcid.org/0000-0002-6359-0349"},"institutions":[{"id":"https://openalex.org/I106938459","display_name":"University of New Brunswick","ror":"https://ror.org/05nkf0n29","country_code":"CA","type":"education","lineage":["https://openalex.org/I106938459"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Howard Li","raw_affiliation_strings":["Collaborative Based Robotics and Automation (COBRA) group, University of New Brunswick, Fredericton, New Brunswick, Canada","Collaborative Based Robotics and Automation (COBRA) group in the Department of Electrical and Computer Engineering at the University of New Brunswick, Fredericton, New Brunswick Canada"],"affiliations":[{"raw_affiliation_string":"Collaborative Based Robotics and Automation (COBRA) group, University of New Brunswick, Fredericton, New Brunswick, Canada","institution_ids":["https://openalex.org/I106938459"]},{"raw_affiliation_string":"Collaborative Based Robotics and Automation (COBRA) group in the Department of Electrical and Computer Engineering at the University of New Brunswick, Fredericton, New Brunswick Canada","institution_ids":["https://openalex.org/I106938459"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037065865"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":4.3759,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.93228441,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6592","last_page":"6599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6664238572120667},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5961383581161499},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5889316201210022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5614224076271057},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5495181083679199},{"id":"https://openalex.org/keywords/seabed","display_name":"Seabed","score":0.5486458539962769},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5003235340118408},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.48680564761161804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4700811207294464},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43545204401016235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42528656125068665},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.37637215852737427},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34411728382110596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3023228645324707},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08750882744789124},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08037599921226501}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6664238572120667},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5961383581161499},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5889316201210022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5614224076271057},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5495181083679199},{"id":"https://openalex.org/C33613203","wikidata":"https://www.wikidata.org/wiki/Q468469","display_name":"Seabed","level":2,"score":0.5486458539962769},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5003235340118408},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.48680564761161804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4700811207294464},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43545204401016235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42528656125068665},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.37637215852737427},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34411728382110596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3023228645324707},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08750882744789124},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08037599921226501},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907832","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907832","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":0.7799999713897705,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1543983621","https://openalex.org/W1969142081","https://openalex.org/W1975347782","https://openalex.org/W1981090740","https://openalex.org/W1986485890","https://openalex.org/W1993336589","https://openalex.org/W1999131722","https://openalex.org/W2006269887","https://openalex.org/W2046245205","https://openalex.org/W2049771613","https://openalex.org/W2053833381","https://openalex.org/W2093385687","https://openalex.org/W2128786284","https://openalex.org/W2157813244","https://openalex.org/W2336416123","https://openalex.org/W4244547826"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"This":[0,83,102,137],"paper":[1],"presents":[2],"an":[3,44,98,183],"overview":[4],"of":[5,22,32,77,132,143,174,188],"our":[6],"research":[7],"on":[8,25,97],"accounting":[9],"for":[10,94],"robot":[11,34,40],"pose":[12,41,64],"uncertainty":[13,31,52],"in":[14,43,49,141,151,171],"area":[15,27,168],"coverage":[16,70,78,95,169],"applications.":[17],"In":[18],"the":[19,29,33,54,69,80,122,130,144,172,186,189],"vast":[20],"majority":[21],"existing":[23],"literature":[24],"robotics":[26],"coverage,":[28],"location":[30],"is":[35,104,149,164],"not":[36],"considered.":[37],"An":[38],"uncertain":[39,45],"results":[42],"sensor":[46,71],"swath,":[47],"which":[48,148],"turn":[50],"creates":[51],"about":[53],"achieved":[55],"coverage.":[56],"Here,":[57],"we":[58],"present":[59],"a":[60,75,133],"general":[61],"framework":[62,103],"where":[63],"estimates":[65],"are":[66],"mapped":[67],"through":[68],"model":[72],"to":[73,90,107,129,166],"obtain":[74],"probability":[76],"over":[79],"discretized":[81],"workspace.":[82],"probabilistic":[84],"representation":[85],"can":[86,139],"then":[87],"be":[88],"used":[89],"adaptively":[91],"plan":[92],"paths":[93],"based":[96],"entropy":[99],"reduction":[100],"formulation.":[101],"particularly":[105],"well-suited":[106],"autonomous":[108],"underwater":[109],"vehicles":[110],"(AUVs)":[111],"performing":[112],"seabed":[113,145],"surveying":[114],"operations.":[115],"The":[116,158],"AUV":[117,124,176,184],"position":[118,125,135,177],"estimate":[119,178],"diverges":[120],"from":[121],"actual":[123],"while":[126],"submerged":[127],"due":[128],"lack":[131],"global":[134],"reference.":[136],"discrepancy":[138],"result":[140],"parts":[142],"being":[146],"missed,":[147],"unacceptable":[150],"safety-critical":[152],"missions":[153],"such":[154],"as":[155],"mine":[156],"countermeasures.":[157],"proposed":[159],"information-based":[160],"path":[161],"planning":[162],"approach":[163],"able":[165],"guarantee":[167],"even":[170],"case":[173],"severe":[175],"drift.":[179],"In-water":[180],"experiments":[181],"with":[182],"show":[185],"effectiveness":[187],"method.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}