{"id":"https://openalex.org/W3091238768","doi":"https://doi.org/10.1109/icra40945.2020.9197153","title":"Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot","display_name":"Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091238768","doi":"https://doi.org/10.1109/icra40945.2020.9197153","mag":"3091238768"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5101607122","display_name":"Yiduo Wang","orcid":"https://orcid.org/0000-0003-2975-2882"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yiduo Wang","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052113515","display_name":"Milad Ramezani","orcid":"https://orcid.org/0000-0002-7529-9903"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Milad Ramezani","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101607122"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":17.9028,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98549769,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8609","last_page":"8615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7232758402824402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7100356817245483},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6475810408592224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.636268138885498},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6256676912307739},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6071983575820923},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5991005897521973},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5796414017677307},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4766079783439636},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09144863486289978}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7232758402824402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7100356817245483},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6475810408592224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.636268138885498},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6256676912307739},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6071983575820923},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5991005897521973},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5796414017677307},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4766079783439636},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09144863486289978},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1953793983","https://openalex.org/W1970218068","https://openalex.org/W1971086298","https://openalex.org/W1989823960","https://openalex.org/W2015699796","https://openalex.org/W2021319744","https://openalex.org/W2023497544","https://openalex.org/W2071888022","https://openalex.org/W2113775403","https://openalex.org/W2133844819","https://openalex.org/W2141847241","https://openalex.org/W2161674001","https://openalex.org/W2171792626","https://openalex.org/W2409009991","https://openalex.org/W2413963660","https://openalex.org/W2467238462","https://openalex.org/W2549216668","https://openalex.org/W2552165419","https://openalex.org/W2605843382","https://openalex.org/W2809054577","https://openalex.org/W2910234834","https://openalex.org/W3004647014","https://openalex.org/W3089355831","https://openalex.org/W4250058668","https://openalex.org/W6605295560","https://openalex.org/W6773120833","https://openalex.org/W6773900632"],"related_works":["https://openalex.org/W2975200075","https://openalex.org/W2007544051","https://openalex.org/W1837097281","https://openalex.org/W1966410754","https://openalex.org/W2363840281","https://openalex.org/W2325242284","https://openalex.org/W2789220062","https://openalex.org/W2030539674","https://openalex.org/W2095705906","https://openalex.org/W2732308154"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,142],"develop":[4],"an":[5,34,114,161],"online":[6],"active":[7],"mapping":[8],"system":[9,44,146],"to":[10,15,30,58,63,69],"enable":[11],"a":[12,40,46,82,144,157],"quadruped":[13],"robot":[14,104,112],"autonomously":[16,155],"survey":[17],"large":[18],"physical":[19],"structures.":[20],"We":[21],"describe":[22],"the":[23,50,55,60,65,73,77,90,97,103,106,118,134,149,152],"perception,":[24],"planning":[25],"and":[26,32,52,68,122,130,136,160],"control":[27],"modules":[28],"needed":[29],"scan":[31,86],"reconstruct":[33],"object":[35],"of":[36,49,81,84,99,138],"interest,":[37],"without":[38],"requiring":[39],"prior":[41],"model.":[42],"The":[43,111],"builds":[45],"voxel":[47],"representation":[48],"object,":[51],"iteratively":[53],"determines":[54],"Next-Best-View":[56],"(NBV)":[57],"extend":[59],"representation,":[61],"according":[62],"both":[64,128],"reconstruction":[66],"itself":[67],"avoid":[70],"collisions":[71],"with":[72],"environment.":[74],"By":[75],"computing":[76],"expected":[78],"information":[79],"gain":[80],"set":[83],"candidate":[85],"locations":[87],"sampled":[88],"on":[89,127,148],"as-sensed":[91],"terrain":[92],"map,":[93],"as":[94,96],"well":[95],"cost":[98],"reaching":[100],"these":[101],"candidates,":[102],"decides":[105],"NBV":[107],"for":[108],"further":[109],"exploration.":[110],"plans":[113],"optimal":[115],"path":[116],"towards":[117],"NBV,":[119],"avoiding":[120],"obstacles":[121],"un-traversable":[123],"terrain.":[124],"Experimental":[125],"results":[126],"simulated":[129],"real-world":[131],"environments":[132],"show":[133],"capability":[135],"efficiency":[137],"our":[139],"system.":[140],"Finally":[141],"present":[143],"full":[145],"demonstration":[147],"real":[150],"robot,":[151],"ANYbotics":[153],"ANYmal,":[154],"reconstructing":[156],"building":[158],"facade":[159],"industrial":[162],"structure.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}