{"id":"https://openalex.org/W3206670464","doi":"https://doi.org/10.1109/icra48506.2021.9561862","title":"Homotopy-Driven Exploration of Human-made Spaces Using Signs","display_name":"Homotopy-Driven Exploration of Human-made Spaces Using Signs","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206670464","doi":"https://doi.org/10.1109/icra48506.2021.9561862","mag":"3206670464"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561862","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/A5063555916","display_name":"Claire Liang","orcid":"https://orcid.org/0000-0002-5702-173X"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire Liang","raw_affiliation_strings":["Cornell University,The Department of Computer Science,Ithaca,NY,USA","The Department of Computer Science, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,The Department of Computer Science,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"The Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Cornell University,The Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA","The Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,The Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"The Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.097,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.41100684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"12715","last_page":"12721"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9904000163078308,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.5044342279434204},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.4669885039329529},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2710089683532715},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.20740339159965515}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5044342279434204},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.4669885039329529},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2710089683532715},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.20740339159965515}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561862","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W2073261719","https://openalex.org/W2096030126","https://openalex.org/W2098764734","https://openalex.org/W2118525851","https://openalex.org/W2123076731","https://openalex.org/W2124123377","https://openalex.org/W2128990851","https://openalex.org/W2267107524","https://openalex.org/W2295417718","https://openalex.org/W2330087054","https://openalex.org/W2404462511","https://openalex.org/W2411856611","https://openalex.org/W2562092129","https://openalex.org/W2591977925","https://openalex.org/W2737759620","https://openalex.org/W2981762858","https://openalex.org/W3132341274","https://openalex.org/W6605295560","https://openalex.org/W6674695407","https://openalex.org/W6713632639","https://openalex.org/W6790841392"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Robots":[0],"deployed":[1],"in":[2,60,85,89],"airports,":[3],"malls,":[4],"and":[5,13,24,43,51,94,118],"stadiums":[6],"today":[7],"require":[8],"expert":[9],"oversight,":[10],"pre-provided":[11],"maps,":[12],"infrastructure.":[14],"These":[15],"systems":[16],"are":[17],"engineered":[18],"to":[19,54],"their":[20],"specific":[21],"deployment":[22],"spaces":[23],"rely":[25],"heavily":[26],"on":[27,122],"geometric":[28],"maps":[29],"for":[30],"motion":[31,73],"planning.":[32,56],"In":[33],"this":[34,63,81],"work":[35],"we":[36,77],"consider":[37],"a":[38,45],"robot":[39],"with":[40],"only":[41],"local-sensing":[42],"present":[44],"navigation":[46],"strategy":[47,64,83],"that":[48,59,70,80],"uses":[49],"signs":[50],"homotopy":[52],"classes":[53],"fuel":[55],"We":[57,103],"prove":[58],"the":[61,67,97,106,109],"worst-case,":[62],"still":[65],"maintains":[66],"probabilistic":[68],"completeness":[69],"sampling":[71],"based":[72],"planners":[74],"provide.":[75],"Furthermore,":[76],"experimentally":[78],"show":[79,105],"exploration":[82],"results":[84],"100%":[86],"goal":[87],"completion":[88],"real":[90],"airport":[91],"floor":[92],"plans,":[93],"demonstrate":[95],"how":[96],"robot’s":[98],"sensing":[99],"capabilities":[100],"affects":[101],"efficiency.":[102],"also":[104],"effect":[107],"of":[108,116,120],"environment":[110],"variables,":[111],"such":[112],"as":[113],"total":[114],"number":[115],"obstacles,":[117,121],"density":[119],"navigation.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}