{"id":"https://openalex.org/W4285102342","doi":"https://doi.org/10.1109/icra46639.2022.9812190","title":"Where to Look Next: Learning Viewpoint Recommendations for Informative Trajectory Planning","display_name":"Where to Look Next: Learning Viewpoint Recommendations for Informative Trajectory Planning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102342","doi":"https://doi.org/10.1109/icra46639.2022.9812190"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812190","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5061731110","display_name":"Max Lodel","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Max Lodel","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038513643","display_name":"Bruno Brito","orcid":"https://orcid.org/0000-0003-3598-8015"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bruno Brito","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009683700","display_name":"\u00c1lvaro Serra-G\u00f3mez","orcid":"https://orcid.org/0000-0001-9458-6214"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Alvaro Serra-Gomez","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084264842","display_name":"Robert Babu\u0161ka","orcid":"https://orcid.org/0000-0001-9578-8598"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["CZ","NL"],"is_corresponding":false,"raw_author_name":"Robert Babuska","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","CIIRC, Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"CIIRC, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics (CoR),Delft,The Netherlands,2628CD","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4466","last_page":"4472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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/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/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.8837747573852539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7617725729942322},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7104464769363403},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6949306130409241},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6622477769851685},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.552766740322113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5095641613006592},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.4766426980495453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4737361669540405},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44886860251426697},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.44621849060058594},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37675657868385315},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.23635387420654297}],"concepts":[{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.8837747573852539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7617725729942322},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7104464769363403},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6949306130409241},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6622477769851685},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.552766740322113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5095641613006592},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.4766426980495453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4737361669540405},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44886860251426697},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.44621849060058594},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37675657868385315},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.23635387420654297},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9812190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812190","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:df38e036-9dee-4b21-b6d8-a5f823af19a5","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:df38e036-9dee-4b21-b6d8-a5f823af19a5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W170770739","https://openalex.org/W1424654272","https://openalex.org/W1684737195","https://openalex.org/W2016130656","https://openalex.org/W2056554710","https://openalex.org/W2064675550","https://openalex.org/W2089437550","https://openalex.org/W2125069195","https://openalex.org/W2142423373","https://openalex.org/W2172103629","https://openalex.org/W2283534560","https://openalex.org/W2296073425","https://openalex.org/W2478708596","https://openalex.org/W2552165419","https://openalex.org/W2591037921","https://openalex.org/W2595092153","https://openalex.org/W2736601468","https://openalex.org/W2790514337","https://openalex.org/W2791580684","https://openalex.org/W2891234582","https://openalex.org/W2896720518","https://openalex.org/W2909324603","https://openalex.org/W2910054127","https://openalex.org/W2955087651","https://openalex.org/W2963105220","https://openalex.org/W2963338060","https://openalex.org/W2964079724","https://openalex.org/W2964162338","https://openalex.org/W2964319688","https://openalex.org/W2969096657","https://openalex.org/W2971269667","https://openalex.org/W3003775893","https://openalex.org/W3011144238","https://openalex.org/W3047400633","https://openalex.org/W3142049818","https://openalex.org/W3176634028","https://openalex.org/W4303697778","https://openalex.org/W6758824984","https://openalex.org/W6774815639"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680","https://openalex.org/W2897994211","https://openalex.org/W3136325136"],"abstract_inverted_index":{"Search":[0],"missions":[1],"require":[2],"motion":[3],"planning":[4],"and":[5,75,122,133,154,169],"navigation":[6],"methods":[7,23],"for":[8,24,47,79],"information":[9,25,56,64,131,167],"gathering":[10,57],"that":[11,96,117,128],"continuously":[12,107],"replan":[13],"based":[14],"on":[15],"new":[16,67],"observations":[17,127],"of":[18,35,66,166,181],"the":[19,63,80,105,113,118,130,135,138],"robot's":[20],"surroundings.":[21],"Current":[22],"gathering,":[26],"such":[27,116],"as":[28],"Monte":[29,160],"Carlo":[30,161],"Tree":[31,162],"Search,":[32,163],"are":[33,42],"capable":[34],"reasoning":[36],"over":[37],"long":[38],"horizons,":[39],"but":[40],"they":[41],"computationally":[43],"expensive.":[44],"An":[45],"alternative":[46],"fast":[48],"online":[49],"execution":[50,176],"is":[51],"to":[52,112,126,159],"train,":[53],"offline,":[54],"an":[55,89],"policy,":[58],"which":[59],"indirectly":[60],"reasons":[61],"about":[62,137],"value":[65],"observations.":[68],"However,":[69],"these":[70,85],"policies":[71,153],"lack":[72],"safety":[73],"guarantees":[74],"do":[76],"not":[77],"account":[78],"robot":[81],"dynamics.":[82],"To":[83],"overcome":[84],"limitations":[86],"we":[87],"train":[88],"information-aware":[90],"policy":[91,106],"via":[92],"deep":[93],"reinforcement":[94],"learning,":[95],"guides":[97],"a":[98,109,173],"receding-horizon":[99],"trajectory":[100],"optimization":[101],"planner.":[102],"In":[103,140],"particular,":[104],"recommends":[108],"reference":[110],"viewpoint":[111],"local":[114],"planner,":[115],"resulting":[119],"dynamically":[120],"feasible":[121],"collision-free":[123],"trajectories":[124],"lead":[125],"maximize":[129],"gain":[132],"reduce":[134],"uncertainty":[136],"environment.":[139],"simulation":[141],"tests":[142],"in":[143,164,175],"previously":[144],"unseen":[145],"environments,":[146],"our":[147],"method":[148],"consistently":[149],"outperforms":[150],"greedy":[151],"next-best-view":[152],"achieves":[155],"competitive":[156],"performance":[157],"compared":[158],"terms":[165],"gains":[168],"coverage":[170],"time,":[171],"with":[172],"reduction":[174],"time":[177],"by":[178],"three":[179],"orders":[180],"magnitude.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}