{"id":"https://openalex.org/W3209352332","doi":"https://doi.org/10.1109/icra46639.2022.9812330","title":"Autonomous Exploration Development Environment and the Planning Algorithms","display_name":"Autonomous Exploration Development Environment and the Planning Algorithms","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3209352332","doi":"https://doi.org/10.1109/icra46639.2022.9812330","mag":"3209352332"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812330","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":"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/A5071008670","display_name":"Chao Cao","orcid":"https://orcid.org/0000-0001-6730-9422"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chao Cao","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062705055","display_name":"Hongbiao Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongbiao Zhu","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100346613","display_name":"Fan Yang","orcid":"https://orcid.org/0000-0002-4452-4979"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Yang","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060646255","display_name":"Yukun Xia","orcid":"https://orcid.org/0009-0009-4320-8825"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yukun Xia","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019807694","display_name":"Jean Oh","orcid":"https://orcid.org/0000-0001-9709-2658"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Oh","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100705326","display_name":"Ji Zhang","orcid":"https://orcid.org/0000-0001-7167-6970"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ji Zhang","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","Robotics Institute at Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University,Pittsburgh,PA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5071008670"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.1343,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.96529454,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8921","last_page":"8928"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9972000122070312,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9947999715805054,"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/waypoint","display_name":"Waypoint","score":0.9272665977478027},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8770191669464111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6973472833633423},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5907699465751648},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.5700384974479675},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5084716081619263},{"id":"https://openalex.org/keywords/open-source","display_name":"Open source","score":0.46873340010643005},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.43658334016799927},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.42368319630622864},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4132637083530426},{"id":"https://openalex.org/keywords/development-environment","display_name":"Development environment","score":0.412200391292572},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39317089319229126},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.38411158323287964},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3118332028388977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30738765001296997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22862473130226135},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.19647109508514404},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09823355078697205},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08257675170898438}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9272665977478027},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8770191669464111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6973472833633423},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5907699465751648},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5700384974479675},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5084716081619263},{"id":"https://openalex.org/C3018397939","wikidata":"https://www.wikidata.org/wiki/Q3644502","display_name":"Open source","level":3,"score":0.46873340010643005},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.43658334016799927},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.42368319630622864},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4132637083530426},{"id":"https://openalex.org/C139968098","wikidata":"https://www.wikidata.org/wiki/Q3055454","display_name":"Development environment","level":2,"score":0.412200391292572},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39317089319229126},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.38411158323287964},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3118332028388977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30738765001296997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22862473130226135},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.19647109508514404},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09823355078697205},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08257675170898438},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812330","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2021851106","https://openalex.org/W2091790851","https://openalex.org/W2115579991","https://openalex.org/W2130917470","https://openalex.org/W2140030375","https://openalex.org/W2141664020","https://openalex.org/W2154393852","https://openalex.org/W2294319407","https://openalex.org/W2296228853","https://openalex.org/W2409009991","https://openalex.org/W2607968634","https://openalex.org/W2615547864","https://openalex.org/W2740418457","https://openalex.org/W2772390515","https://openalex.org/W2776202271","https://openalex.org/W2783375473","https://openalex.org/W2784820185","https://openalex.org/W2799002257","https://openalex.org/W2887564721","https://openalex.org/W2909908358","https://openalex.org/W2938818630","https://openalex.org/W2962787639","https://openalex.org/W2962867954","https://openalex.org/W2963210849","https://openalex.org/W2964339842","https://openalex.org/W2998903229","https://openalex.org/W3009928773","https://openalex.org/W3016754278","https://openalex.org/W3035624836","https://openalex.org/W3042040243","https://openalex.org/W3090360675","https://openalex.org/W3097090618","https://openalex.org/W3102129812","https://openalex.org/W3106462076","https://openalex.org/W3110701971","https://openalex.org/W3115267626","https://openalex.org/W3125164440","https://openalex.org/W3129245057","https://openalex.org/W3175074116","https://openalex.org/W3176634028","https://openalex.org/W3192162805","https://openalex.org/W4200523064","https://openalex.org/W4238857822","https://openalex.org/W4287112297","https://openalex.org/W4293566037","https://openalex.org/W4295719664","https://openalex.org/W4297728751","https://openalex.org/W4313150919","https://openalex.org/W6679410535","https://openalex.org/W6696955428","https://openalex.org/W6741948538","https://openalex.org/W6745935785","https://openalex.org/W6746408764","https://openalex.org/W6747106673","https://openalex.org/W6747736218","https://openalex.org/W6747912417","https://openalex.org/W6780091408","https://openalex.org/W6787002401","https://openalex.org/W6797065961","https://openalex.org/W6803768933"],"related_works":["https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W1978127373","https://openalex.org/W2915444871","https://openalex.org/W2612848489","https://openalex.org/W2773440449","https://openalex.org/W4300972232"],"abstract_inverted_index":{"Autonomous":[0],"Exploration":[1],"Development":[2],"Environment":[3],"is":[4],"an":[5],"open-source":[6,69],"repository":[7,24],"released":[8],"to":[9],"facilitate":[10],"development":[11],"of":[12,18,47,66,76,98],"high-level":[13,49],"planning":[14],"algorithms":[15],"and":[16,41,57,71],"integration":[17,75],"com-plete":[19],"autonomous":[20,77],"navigation":[21,31,78,96],"systems.":[22,79],"The":[23],"contains":[25],"representative":[26],"simulation":[27],"environment":[28],"models,":[29],"fundamental":[30],"modules,":[32],"e.g.,":[33],"local":[34],"planner,":[35],"terrain":[36],"traversability":[37],"analysis,":[38],"waypoint":[39],"following,":[40],"visualization":[42],"tools.":[43],"Together":[44],"with":[45],"two":[46],"our":[48],"planner":[50,54,59],"releases":[51],"-":[52],"TARE":[53],"for":[55,60],"exploration":[56],"FAR":[58],"route":[61],"planning,":[62],"we":[63,105],"detail":[64],"usage":[65],"the":[67,90,94,99,103],"three":[68],"repositories":[70,91],"share":[72],"experiences":[73],"in":[74,112],"We":[80],"use":[81,87,110],"DARPA":[82],"Subterranean":[83],"Challenge":[84],"as":[85],"a":[86,107],"case":[88],"where":[89],"together":[92],"form":[93],"main":[95],"system":[97],"CMU-OSU":[100],"Team.":[101],"In":[102],"end,":[104],"discuss":[106],"few":[108],"potential":[109],"cases":[111],"extended":[113],"applications.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":7}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
