{"id":"https://openalex.org/W3207215403","doi":"https://doi.org/10.1109/icra48506.2021.9561580","title":"Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making","display_name":"Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207215403","doi":"https://doi.org/10.1109/icra48506.2021.9561580","mag":"3207215403"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561580","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"],"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/A5072175826","display_name":"Hannah Lehner","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hannah Lehner","raw_affiliation_strings":["Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026935526","display_name":"Martin J. Schuster","orcid":"https://orcid.org/0000-0002-6983-3719"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin J. Schuster","raw_affiliation_strings":["Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049703440","display_name":"Tim Bodenm\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Bodenmuller","raw_affiliation_strings":["Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050478468","display_name":"Rudolph Triebel","orcid":"https://orcid.org/0000-0002-7975-036X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolph Triebel","raw_affiliation_strings":["Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Perception and Cognition, German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072175826"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.2882,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56428105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5163","last_page":"5169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9986000061035156,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9980999827384949,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9962999820709229,"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":0.7795273065567017},{"id":"https://openalex.org/keywords/multiple-criteria-decision-analysis","display_name":"Multiple-criteria decision analysis","score":0.7452366948127747},{"id":"https://openalex.org/keywords/categorization","display_name":"Categorization","score":0.6592485904693604},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6156859993934631},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.5522831678390503},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.46110445261001587},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.44958260655403137},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.39201289415359497},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3667905926704407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31047630310058594},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.22834837436676025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10925993323326111},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08158233761787415}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7795273065567017},{"id":"https://openalex.org/C11105738","wikidata":"https://www.wikidata.org/wiki/Q1895805","display_name":"Multiple-criteria decision analysis","level":2,"score":0.7452366948127747},{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.6592485904693604},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6156859993934631},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.5522831678390503},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.46110445261001587},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.44958260655403137},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.39201289415359497},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3667905926704407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31047630310058594},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.22834837436676025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10925993323326111},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08158233761787415},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561580","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:elib.dlr.de:145851","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325698","display_name":"Helmholtz Association","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W960269935","https://openalex.org/W1684737195","https://openalex.org/W1748537427","https://openalex.org/W1988757690","https://openalex.org/W2008394771","https://openalex.org/W2089437550","https://openalex.org/W2109142140","https://openalex.org/W2118890998","https://openalex.org/W2121734178","https://openalex.org/W2143964548","https://openalex.org/W2146271069","https://openalex.org/W2172103629","https://openalex.org/W2199085611","https://openalex.org/W2205443796","https://openalex.org/W2599631639","https://openalex.org/W2767694002","https://openalex.org/W2772189859","https://openalex.org/W2889942734","https://openalex.org/W2896711393","https://openalex.org/W6678073246","https://openalex.org/W6735414206","https://openalex.org/W6755116606"],"related_works":["https://openalex.org/W2165912799","https://openalex.org/W2735662278","https://openalex.org/W2382615723","https://openalex.org/W4311804456","https://openalex.org/W1987484445","https://openalex.org/W2623658258","https://openalex.org/W2143413548","https://openalex.org/W1969219540","https://openalex.org/W2370459448","https://openalex.org/W2105067402"],"abstract_inverted_index":{"We":[0,29,100,121],"present":[1,122],"a":[2,58,80,92,118,135],"Multi-Criteria":[3],"Decision":[4],"Making":[5],"(MCDM)":[6],"framework":[7],"specifically":[8],"designed":[9],"for":[10,66,76,96,141],"planetary":[11,77],"exploration.":[12],"Our":[13],"work":[14],"is":[15,54,64],"based":[16],"on":[17],"PROMETHEE":[18],"II,":[19],"which":[20],"allows":[21],"operators":[22],"to":[23,33,48],"add":[24],"task-specific":[25],"criteria":[26,75],"and":[27,51,90,124,133],"conditions.":[28],"extended":[30],"this":[31],"algorithm":[32],"improve":[34],"its":[35],"resource":[36,98],"usage":[37,106],"by":[38],"reducing":[39],"the":[40,104,114,128,138],"number":[41,60],"of":[42,61,87,94,107,117,137,144],"candidate":[43],"exploration":[44],"goals":[45],"that":[46,83,103],"have":[47],"be":[49],"evaluated":[50],"compared.":[52],"This":[53],"crucial":[55],"when":[56],"given":[57],"large":[59],"goals,":[62],"as":[63],"typical":[65],"outdoor":[67],"environments.":[68],"In":[69],"addition,":[70],"we":[71,84],"identified":[72],"five":[73],"different":[74],"exploration,":[78],"including":[79],"novel":[81],"criterion":[82],"call":[85],"Direction":[86],"Interest":[88],"(DOI),":[89],"use":[91],"categorization":[93],"these":[95],"further":[97],"optimizations.":[99],"thereby":[101],"ensure":[102],"CPU":[105],"our":[108],"decision":[109,142],"making":[110,143],"method":[111],"can":[112],"meet":[113],"limited":[115],"budget":[116],"space":[119],"rover.":[120],"simulated":[123],"real-world":[125],"experiments":[126],"with":[127],"Lightweight":[129],"Rover":[130],"Unit":[131],"(LRU)":[132],"show":[134],"reduction":[136],"processing":[139],"time":[140],"approx.":[145],"70%.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
