{"id":"https://openalex.org/W3205673843","doi":"https://doi.org/10.1109/icra48506.2021.9561047","title":"Efficient Multi-scale POMDPs for Robotic Object Search and Delivery","display_name":"Efficient Multi-scale POMDPs for Robotic Object Search and Delivery","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205673843","doi":"https://doi.org/10.1109/icra48506.2021.9561047","mag":"3205673843"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/515767","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068150213","display_name":"Luc Holzherr","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luc Holzherr","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065770056","display_name":"Julian F\u00f6rster","orcid":"https://orcid.org/0000-0002-1163-1065"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Julian Forster","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003429397","display_name":"Michel Breyer","orcid":"https://orcid.org/0000-0002-9470-0643"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michel Breyer","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4851,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65694102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6585","last_page":"6591"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994000196456909,"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/T12288","display_name":"Optimization and Search Problems","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7603746652603149},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7328118085861206},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.6461654901504517},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.6378132104873657},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5574846863746643},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5315378308296204},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5102241039276123},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4706798195838928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37608078122138977},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35876739025115967},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24781283736228943},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.22430658340454102},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.18568632006645203},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.1516917645931244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11433890461921692},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.09698295593261719}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7603746652603149},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7328118085861206},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.6461654901504517},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.6378132104873657},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5574846863746643},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5315378308296204},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5102241039276123},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4706798195838928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37608078122138977},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35876739025115967},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24781283736228943},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.22430658340454102},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.18568632006645203},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.1516917645931244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11433890461921692},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.09698295593261719},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48506.2021.9561047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/515767","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/515767","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.3929/ethz-b-000515767","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000515767","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/515767","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/515767","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320328192","display_name":"ABB Corporate Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2214249","https://openalex.org/W185486129","https://openalex.org/W1532688806","https://openalex.org/W1631187438","https://openalex.org/W1886379263","https://openalex.org/W2034725503","https://openalex.org/W2099430963","https://openalex.org/W2109910161","https://openalex.org/W2118656144","https://openalex.org/W2124595631","https://openalex.org/W2135639338","https://openalex.org/W2158907787","https://openalex.org/W2168359464","https://openalex.org/W2169977622","https://openalex.org/W2171084228","https://openalex.org/W2758731390","https://openalex.org/W2807712944","https://openalex.org/W2964163353","https://openalex.org/W2968322027","https://openalex.org/W3101822862","https://openalex.org/W6631864160","https://openalex.org/W6636614537","https://openalex.org/W6678541622","https://openalex.org/W6684973485","https://openalex.org/W6752474190"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914","https://openalex.org/W4321379664"],"abstract_inverted_index":{"We":[0,106],"present":[1],"a":[2,20,74,109],"novel":[3],"hierarchical":[4,46],"POMDP":[5,47,112],"framework":[6,48],"to":[7,41,57,137],"solve":[8],"an":[9,117],"object":[10],"search":[11],"and":[12,102],"delivery":[13],"task":[14],"where":[15],"the":[16,24,67,71,84,97,139],"agent":[17],"is":[18,30,63,81],"given":[19],"prior":[21],"belief":[22],"about":[23],"possible":[25],"item":[26],"locations.":[27],"Solving":[28],"POMDPs":[29],"computationally":[31],"demanding":[32],"and,":[33],"as":[34],"such,":[35],"applications":[36,124],"have":[37],"typically":[38],"been":[39],"limited":[40],"small":[42],"environments.":[43],"The":[44,61],"proposed":[45],"performs":[49],"reasoning":[50],"on":[51],"multiple":[52],"spatial":[53,98],"scales":[54],"in":[55,66,83,104],"order":[56,118],"reduce":[58],"computation":[59,114,142],"time.":[60],"problem":[62],"first":[64],"solved":[65],"top":[68],"layer":[69],"of":[70,119,148],"hierarchy":[72,99],"with":[73,87],"coarsely":[75],"discretized":[76],"state":[77],"space.":[78],"Its":[79],"solution":[80,128],"refined":[82],"lower":[85],"layers":[86,136],"increasing":[88],"resolution.":[89],"Three":[90],"different":[91],"methods":[92],"for":[93,122],"propagating":[94],"information":[95],"down":[96],"are":[100,150],"discussed":[101],"validated":[103],"simulation.":[105],"show":[107],"that":[108,133],"two-layer":[110],"multi-scale":[111],"decreases":[113],"time":[115,143],"by":[116,145],"magnitude":[120,149],"allowing":[121],"real-time":[123],"while":[125],"maintaining":[126],"high":[127],"quality.":[129],"For":[130],"large":[131],"problems":[132],"require":[134],"three":[135],"reach":[138],"desired":[140],"resolution,":[141],"speedups":[144],"two":[146],"orders":[147],"achieved.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}