{"id":"https://openalex.org/W3207581717","doi":"https://doi.org/10.1109/icra48506.2021.9561916","title":"Exploring Large and Complex Environments Fast and Efficiently","display_name":"Exploring Large and Complex Environments Fast and Efficiently","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207581717","doi":"https://doi.org/10.1109/icra48506.2021.9561916","mag":"3207581717"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561916","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/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, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, 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, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, 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, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100329266","display_name":"Ji Zhang","orcid":"https://orcid.org/0000-0002-3835-7975"},"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, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071008670"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.1135,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.89361111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7781","last_page":"7787"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8014093637466431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.729651689529419},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6687526702880859},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5677708983421326},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5051460862159729},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4681537449359894},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4480302631855011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44618716835975647},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3230751156806946},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0643041729927063}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8014093637466431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.729651689529419},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6687526702880859},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5677708983421326},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5051460862159729},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4681537449359894},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4480302631855011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44618716835975647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3230751156806946},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0643041729927063},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561916","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":[{"id":"https://metadata.un.org/sdg/11","score":0.75,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W82838842","https://openalex.org/W131069610","https://openalex.org/W1484557735","https://openalex.org/W1684737195","https://openalex.org/W1971086298","https://openalex.org/W1976428129","https://openalex.org/W1991328253","https://openalex.org/W2017995647","https://openalex.org/W2030021468","https://openalex.org/W2047820376","https://openalex.org/W2082219174","https://openalex.org/W2092876423","https://openalex.org/W2093385687","https://openalex.org/W2107667896","https://openalex.org/W2109490756","https://openalex.org/W2121734178","https://openalex.org/W2122410182","https://openalex.org/W2142924305","https://openalex.org/W2172103629","https://openalex.org/W2409009991","https://openalex.org/W2561839189","https://openalex.org/W2564666437","https://openalex.org/W2623293810","https://openalex.org/W2736267156","https://openalex.org/W2769990600","https://openalex.org/W2888422218","https://openalex.org/W2963054668","https://openalex.org/W2963080995","https://openalex.org/W2963509423","https://openalex.org/W3003718768","https://openalex.org/W3016754278","https://openalex.org/W3090360675","https://openalex.org/W4303697778","https://openalex.org/W6605295560","https://openalex.org/W6673488624","https://openalex.org/W6678073246","https://openalex.org/W6678087030","https://openalex.org/W6730541462","https://openalex.org/W6758824984"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2359600231","https://openalex.org/W4292862729"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,22,34,44,50,77,108],"novel":[4],"framework":[5,18,78],"for":[6,98],"autonomous":[7],"exploration":[8,58],"in":[9,82,128,138],"large":[10,112],"and":[11,40,71,113,116],"complex":[12,114],"environments.":[13,118],"We":[14],"show":[15,120],"that":[16,121],"the":[17,38,55,63,68,74,83,86,96],"is":[19,47,60,124],"efficient":[20,127],"as":[21,126],"result":[23],"of":[24,37,85,136],"its":[25],"hierarchical":[26],"structure,":[27],"where":[28],"at":[29,41,62,67],"one":[30],"level":[31],"it":[32],"maintains":[33],"sparse":[35],"representation":[36,46],"environment":[39],"another":[42],"level,":[43],"dense":[45],"used":[48],"within":[49],"local":[51],"planning":[52],"horizon":[53],"around":[54,73],"robot.":[56,75],"The":[57],"path":[59],"computed":[61],"two":[64],"levels,":[65],"coarsely":[66],"global":[69],"scale":[70],"finely":[72],"Such":[76],"produces":[79],"detailed":[80],"paths":[81],"vicinity":[84],"robot,":[87],"while":[88,131],"trades":[89],"off":[90],"data":[91],"resolution":[92],"far":[93],"away":[94],"from":[95],"robot":[97,110],"computational":[99],"efficiency.":[100],"In":[101],"experiments,":[102],"we":[103],"evaluate":[104],"our":[105,122],"method":[106,123],"with":[107],"real":[109],"exploring":[111],"indoor":[115],"outdoor":[117],"Results":[119],"twice":[125],"covering":[129],"spaces":[130],"using":[132],"less":[133],"than":[134],"one-fifth":[135],"processing":[137],"comparison":[139],"to":[140],"state-of-the-art":[141],"methods.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-11T14:41:00.668223","created_date":"2025-10-10T00:00:00"}
