{"id":"https://openalex.org/W4383066579","doi":"https://doi.org/10.1109/icra48891.2023.10160859","title":"Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing","display_name":"Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066579","doi":"https://doi.org/10.1109/icra48891.2023.10160859"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5072488856","display_name":"Joshua Ott","orcid":"https://orcid.org/0000-0002-6754-8316"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joshua Ott","raw_affiliation_strings":["Stanford University,Department of Aeronautics &#x0026; Astronautics"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics &#x0026; Astronautics","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110732972","display_name":"Edward P. Balaban","orcid":null},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward Balaban","raw_affiliation_strings":["NASA Ames Research Center"],"affiliations":[{"raw_affiliation_string":"NASA Ames Research Center","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University,Department of Aeronautics &#x0026; Astronautics"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics &#x0026; Astronautics","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072488856"],"corresponding_institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.9678,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.88405816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7894","last_page":"7901"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9977999925613403,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9944999814033508,"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/computer-science","display_name":"Computer science","score":0.6971322894096375},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5444096922874451},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.5396419167518616},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5265731811523438},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5228551030158997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45873135328292847},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.44555261731147766},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4354096055030823},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.427001416683197},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.42653968930244446},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.41452962160110474},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.41090357303619385},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3961758613586426},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3011462390422821},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.288141131401062},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.16578900814056396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1645345687866211},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11099657416343689},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10809558629989624}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6971322894096375},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5444096922874451},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.5396419167518616},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5265731811523438},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5228551030158997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45873135328292847},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.44555261731147766},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4354096055030823},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.427001416683197},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.42653968930244446},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.41452962160110474},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.41090357303619385},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3961758613586426},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3011462390422821},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.288141131401062},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.16578900814056396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1645345687866211},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11099657416343689},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10809558629989624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/icra48891.2023.10160859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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":47,"referenced_works":["https://openalex.org/W107054272","https://openalex.org/W118209859","https://openalex.org/W1580216809","https://openalex.org/W1866206747","https://openalex.org/W1941409503","https://openalex.org/W2004207982","https://openalex.org/W2125943099","https://openalex.org/W2126316555","https://openalex.org/W2156676156","https://openalex.org/W2161674001","https://openalex.org/W2166295994","https://openalex.org/W2168359206","https://openalex.org/W2168359464","https://openalex.org/W2216655268","https://openalex.org/W2221184070","https://openalex.org/W2412233877","https://openalex.org/W2594930926","https://openalex.org/W2607868186","https://openalex.org/W2705677880","https://openalex.org/W2795496197","https://openalex.org/W2909772865","https://openalex.org/W2954742730","https://openalex.org/W2986313031","https://openalex.org/W3003506411","https://openalex.org/W3004751533","https://openalex.org/W3034941551","https://openalex.org/W3037804612","https://openalex.org/W3099932909","https://openalex.org/W3202615380","https://openalex.org/W3202970776","https://openalex.org/W4200292753","https://openalex.org/W4226249001","https://openalex.org/W4236236480","https://openalex.org/W4285820201","https://openalex.org/W4292201236","https://openalex.org/W4297821054","https://openalex.org/W6631084031","https://openalex.org/W6634689341","https://openalex.org/W6639216784","https://openalex.org/W6679093593","https://openalex.org/W6679608865","https://openalex.org/W6688787420","https://openalex.org/W6689175234","https://openalex.org/W6737007698","https://openalex.org/W6770059212","https://openalex.org/W6779812102","https://openalex.org/W6842792020"],"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":{"Adaptive":[0,55],"Informative":[1,56],"Path":[2,57],"Planning":[3,58],"with":[4,15,19,97,111,124],"Multi-modal":[5],"Sensing":[6],"(AIPPMS)":[7],"considers":[8,62],"the":[9,32,52,64,67,82,87,102,138,149,153],"problem":[10,75,104],"of":[11,66,89],"an":[12],"agent":[13,83],"equipped":[14],"multiple":[16],"sensors,":[17],"each":[18],"different":[20],"sensing":[21,90],"accuracy":[22],"and":[23,34,91,115,168],"energy":[24],"costs.":[25],"The":[26,73],"agent's":[27,68],"goal":[28],"is":[29],"to":[30,38,163],"explore":[31],"environment":[33,154],"gather":[35],"information":[36,98],"subject":[37],"its":[39],"resource":[40,95],"constraints":[41,96],"in":[42,142,152,165],"unknown,":[43],"partially":[44],"observable":[45],"environments.":[46],"Previous":[47],"work":[48],"has":[49],"focused":[50],"on":[51,70],"less":[53],"general":[54],"(AIPP)":[59],"problem,":[60],"which":[61],"only":[63],"effect":[65],"movement":[69,92],"received":[71,141],"observations.":[72],"AIPPMS":[74,103,132],"adds":[76],"additional":[77],"complexity":[78],"by":[79,134,156],"requiring":[80],"that":[81],"reasons":[84],"jointly":[85],"about":[86],"effects":[88],"while":[93,146],"balancing":[94],"objectives.":[99],"We":[100,158],"formulate":[101],"as":[105],"a":[106,119],"belief":[107,155],"Markov":[108],"decision":[109],"process":[110,113],"Gaussian":[112],"beliefs":[114],"solve":[116],"it":[117],"using":[118],"sequential":[120],"Bayesian":[121],"optimization":[122],"approach":[123,128],"online":[125],"planning.":[126],"Our":[127],"consistently":[129],"outperforms":[130],"previous":[131],"solutions":[133],"more":[135],"than":[136],"doubling":[137],"average":[139],"reward":[140],"almost":[143],"every":[144],"experiment":[145],"also":[147],"reducing":[148],"root-mean-square":[150],"error":[151],"50%.":[157],"completely":[159],"open-source":[160],"our":[161],"implementation":[162],"aid":[164],"further":[166],"development":[167],"comparison.":[169],"<sup":[170,173],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[171,174],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[172,175],"https://github.com/sisl/SBO_AIPPMS":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
