{"id":"https://openalex.org/W4401414299","doi":"https://doi.org/10.1109/icra57147.2024.10610044","title":"Low-to-High Resolution Path Planner for Robotic Gas Distribution Mapping","display_name":"Low-to-High Resolution Path Planner for Robotic Gas Distribution Mapping","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414299","doi":"https://doi.org/10.1109/icra57147.2024.10610044"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Low-to-high_resolution_path_planner_for_robotic_gas_distribution_mapping/25858771","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035292994","display_name":"Rohit V. Nanavati","orcid":"https://orcid.org/0000-0003-1240-2085"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rohit V. Nanavati","raw_affiliation_strings":["Loughborough University,Center of Autonomous Systems,Department of Aeronautical and Automotive Engineering,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Center of Autonomous Systems,Department of Aeronautical and Automotive Engineering,United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060453317","display_name":"Callum Rhodes","orcid":"https://orcid.org/0000-0002-9782-2646"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Callum Rhodes","raw_affiliation_strings":["Imperial College London,Department of Computing,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Computing,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013053105","display_name":"Matthew Coombes","orcid":"https://orcid.org/0000-0002-4421-9464"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matthew J. Coombes","raw_affiliation_strings":["Loughborough University,Center of Autonomous Systems,Department of Aeronautical and Automotive Engineering,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Center of Autonomous Systems,Department of Aeronautical and Automotive Engineering,United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021774274","display_name":"Cunjia Liu","orcid":"https://orcid.org/0000-0003-2829-9369"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Cunjia Liu","raw_affiliation_strings":["Loughborough University,Center of Autonomous Systems,Department of Aeronautical and Automotive Engineering,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University,Center of Autonomous Systems,Department of Aeronautical and Automotive Engineering,United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9406,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76005128,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8457","last_page":"8463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11407","display_name":"Innovative Microfluidic and Catalytic Techniques Innovation","score":0.9373000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7728539705276489},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6668847799301147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5833690762519836},{"id":"https://openalex.org/keywords/resolution","display_name":"Resolution (logic)","score":0.5493115186691284},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5155158042907715},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4787234961986542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3208942711353302},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24962568283081055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13329872488975525},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06826618313789368}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7728539705276489},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6668847799301147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5833690762519836},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.5493115186691284},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5155158042907715},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4787234961986542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3208942711353302},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24962568283081055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13329872488975525},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06826618313789368},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/25858771","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Low-to-high_resolution_path_planner_for_robotic_gas_distribution_mapping/25858771","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/25858771","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Low-to-high_resolution_path_planner_for_robotic_gas_distribution_mapping/25858771","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W599837080","https://openalex.org/W773168442","https://openalex.org/W812780040","https://openalex.org/W1549202976","https://openalex.org/W1968230655","https://openalex.org/W2004969812","https://openalex.org/W2067284330","https://openalex.org/W2102488189","https://openalex.org/W2131262329","https://openalex.org/W2139022569","https://openalex.org/W2157439304","https://openalex.org/W2913038313","https://openalex.org/W2969040734","https://openalex.org/W3132720870","https://openalex.org/W4205622686","https://openalex.org/W4213441178","https://openalex.org/W4286215669","https://openalex.org/W4312623524","https://openalex.org/W4323022377","https://openalex.org/W6853116494"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"Robotic":[0],"gas":[1,10,23,35,92],"distribution":[2,24,93],"mapping":[3],"improves":[4],"the":[5,14,42,59,83,102,119,145,154,162,169,186,199],"understanding":[6],"of":[7,18,28,45,85,127],"a":[8,67,75,89,107,115,123,173,181],"hazardous":[9],"dispersion":[11],"while":[12,159],"putting":[13],"human":[15],"operator":[16],"out":[17],"danger.":[19],"Generating":[20],"an":[21],"accurate":[22],"map":[25,63,105,176],"quickly":[26,79],"is":[27,140],"utmost":[29],"importance":[30],"in":[31,47,132,196],"situations":[32],"such":[33],"as":[34,106,114],"leaks":[36],"and":[37,80,167,204],"industrial":[38],"incidents,":[39],"so":[40],"that":[41,72,161],"efficient":[43],"use":[44],"resources":[46],"response":[48],"to":[49,57,78,87,121,142,150,166,184,198],"incidents":[50],"can":[51,164],"be":[52],"facilitated.":[53],"In":[54],"this":[55],"paper,":[56],"incorporate":[58],"operational":[60],"requirement":[61],"on":[62],"granularity,":[64],"we":[65],"propose":[66],"low-to-high":[68],"resolution":[69,91,98,104,111],"path":[70,202],"planner":[71],"first":[73],"guides":[74],"single":[76],"robots":[77],"sparsely":[81],"sample":[82,168],"region":[84],"interest":[86],"generate":[88],"low":[90,103,110],"map,":[94],"followed":[95],"by":[96,101],"high":[97,128,156],"sampling":[99,201],"informed":[100],"prior.":[108],"The":[109,137],"prior":[112],"acts":[113],"coverage":[116],"survey":[117],"allowing":[118],"algorithm":[120],"perform":[122],"relatively":[124],"exploitative":[125],"search":[126],"concentration":[129],"regions,":[130],"resulting":[131],"overall":[133],"shorter":[134],"mission":[135],"times.":[136],"proposed":[138],"framework":[139],"designed":[141],"iteratively":[143],"identify":[144],"next":[146],"best":[147],"T":[148],"locations":[149,171],"sample,":[151],"which":[152],"prioritises":[153],"potentially":[155],"reward":[157,206],"locations,":[158],"ensuring":[160],"robot":[163],"travel":[165],"chosen":[170],"within":[172],"user":[174],"specified":[175],"update":[177],"cycle.":[178],"We":[179],"present":[180],"simulation":[182],"study":[183],"demonstrate":[185],"alternating":[187],"exploration-exploitation":[188],"like":[189],"behaviour":[190],"along":[191],"with":[192],"bench-marking":[193],"its":[194],"performance":[195],"contrast":[197],"traditional":[200],"planners":[203],"various":[205],"functions.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}