{"id":"https://openalex.org/W1488645765","doi":"https://doi.org/10.1109/icra.2015.7139673","title":"Efficient measurement planning for remote gas sensing with mobile robots","display_name":"Efficient measurement planning for remote gas sensing with mobile robots","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1488645765","doi":"https://doi.org/10.1109/icra.2015.7139673","mag":"1488645765"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-46796","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102730432","display_name":"Muhammad Asif Arain","orcid":"https://orcid.org/0000-0002-5973-7424"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Muhammad Asif Arain","raw_affiliation_strings":["Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069701902","display_name":"Marcello Cirillo","orcid":"https://orcid.org/0000-0002-4708-8412"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]},{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Marcello Cirillo","raw_affiliation_strings":["Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","Scania AB, S\u00f6dert\u00e4lie, Sweden"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"Scania AB, S\u00f6dert\u00e4lie, Sweden","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039036247","display_name":"Victor Hernandez Bennetts","orcid":"https://orcid.org/0000-0001-5061-5474"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Victor Hernandez Bennetts","raw_affiliation_strings":["Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024984249","display_name":"Erik Schaffernicht","orcid":"https://orcid.org/0000-0002-0804-8637"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Erik Schaffernicht","raw_affiliation_strings":["Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018922157","display_name":"Marco Trincavelli","orcid":"https://orcid.org/0000-0003-0195-2102"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Marco Trincavelli","raw_affiliation_strings":["Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088586617","display_name":"Achim J. Lilienthal","orcid":"https://orcid.org/0000-0003-0217-9326"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Achim J. Lilienthal","raw_affiliation_strings":["Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden"],"affiliations":[{"raw_affiliation_string":"Mobile Robotics & Olfaction Lab, Orebro University, Orebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102730432"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":null,"apc_paid":null,"fwci":1.852,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.84798689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3428","last_page":"3434"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11407","display_name":"Innovative Microfluidic and Catalytic Techniques Innovation","score":0.9682000279426575,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.7251022458076477},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7214303016662598},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5701854825019836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5297577977180481},{"id":"https://openalex.org/keywords/gas-leak","display_name":"Gas leak","score":0.5215599536895752},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44666534662246704},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4402269721031189},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.42195141315460205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24369516968727112}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7251022458076477},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7214303016662598},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5701854825019836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5297577977180481},{"id":"https://openalex.org/C2777318586","wikidata":"https://www.wikidata.org/wiki/Q5526351","display_name":"Gas leak","level":2,"score":0.5215599536895752},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44666534662246704},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4402269721031189},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.42195141315460205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24369516968727112},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:oru-46796","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-46796","pdf_url":null,"source":{"id":"https://openalex.org/S4306400154","display_name":"\u00d6rebro University Library (\u00d6rebro University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I26437253","host_organization_name":"\u00d6rebro University","host_organization_lineage":["https://openalex.org/I26437253"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:oru-46796","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-46796","pdf_url":null,"source":{"id":"https://openalex.org/S4306400154","display_name":"\u00d6rebro University Library (\u00d6rebro University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I26437253","host_organization_name":"\u00d6rebro University","host_organization_lineage":["https://openalex.org/I26437253"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W83290899","https://openalex.org/W626292722","https://openalex.org/W1970940806","https://openalex.org/W1974988574","https://openalex.org/W1983043788","https://openalex.org/W1996056600","https://openalex.org/W2004877012","https://openalex.org/W2008056024","https://openalex.org/W2008597402","https://openalex.org/W2056809141","https://openalex.org/W2061266522","https://openalex.org/W2063000450","https://openalex.org/W2063442090","https://openalex.org/W2065562880","https://openalex.org/W2067599125","https://openalex.org/W2078505501","https://openalex.org/W2087858211","https://openalex.org/W2107861471","https://openalex.org/W2114279220","https://openalex.org/W2117364744","https://openalex.org/W2119816061","https://openalex.org/W2135129200","https://openalex.org/W2157638946","https://openalex.org/W2158831329","https://openalex.org/W3102635930","https://openalex.org/W6677277267"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W2100040481","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729"],"abstract_inverted_index":{"The":[0],"problem":[1,26],"of":[2,27,64,76],"gas":[3,28,42],"detection":[4,14,29],"is":[5],"relevant":[6],"to":[7,70,80,99],"many":[8],"real-world":[9,100],"applications,":[10],"such":[11],"as":[12],"leak":[13],"in":[15,30,74,89,92],"industrial":[16],"settings":[17],"and":[18,79,91],"surveillance.":[19],"In":[20],"this":[21],"paper":[22],"we":[23],"address":[24],"the":[25,65],"large":[31],"areas":[32],"with":[33,39],"a":[34,40,46,61],"mobile":[35],"robotic":[36],"platform":[37],"equipped":[38],"remote":[41],"sensor.":[43],"We":[44,84],"propose":[45],"novel":[47],"method":[48,68],"based":[49],"on":[50],"convex":[51],"relaxation":[52],"for":[53],"quickly":[54],"finding":[55],"an":[56],"exploration":[57],"plan":[58],"that":[59],"guarantees":[60],"complete":[62],"coverage":[63],"environment.":[66],"Our":[67],"proves":[69],"be":[71],"highly":[72],"efficient":[73],"terms":[75],"computational":[77],"requirements":[78],"provide":[81],"nearly-optimal":[82],"solutions.":[83],"validate":[85],"our":[86],"approach":[87],"both":[88],"simulation":[90],"real":[93],"environments,":[94],"thus":[95],"demonstrating":[96],"its":[97],"applicability":[98],"problems.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}