{"id":"https://openalex.org/W4401413682","doi":"https://doi.org/10.1109/icra57147.2024.10610133","title":"Communication-Aware Map Compression for Online Path-Planning","display_name":"Communication-Aware Map Compression for Online Path-Planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413682","doi":"https://doi.org/10.1109/icra57147.2024.10610133"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610133","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051911302","display_name":"Evangelos Psomiadis","orcid":"https://orcid.org/0000-0003-1545-6564"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos Psomiadis","raw_affiliation_strings":["Georgia Institute of Technology,D. Guggenheim School of Aerospace Engineering,Atlanta,GA,USA,30332-0150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,D. Guggenheim School of Aerospace Engineering,Atlanta,GA,USA,30332-0150","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dipankar Maity","orcid":null},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dipankar Maity","raw_affiliation_strings":["University of North Carolina at Charlotte,Department of Electrical and Computer Engineering,NC,USA,28223-0001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina at Charlotte,Department of Electrical and Computer Engineering,NC,USA,28223-0001","institution_ids":["https://openalex.org/I102149020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Tsiotras","raw_affiliation_strings":["Georgia Institute of Technology,D. Guggenheim School of Aerospace Engineering,Atlanta,GA,USA,30332-0150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,D. Guggenheim School of Aerospace Engineering,Atlanta,GA,USA,30332-0150","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8749,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74395888,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12368","last_page":"12374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.7553997039794922},{"id":"https://openalex.org/keywords/data-compression","display_name":"Data compression","score":0.5047522783279419},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4978039264678955},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48686590790748596},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.4629318118095398},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.32541418075561523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27587535977363586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11281657218933105}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7553997039794922},{"id":"https://openalex.org/C78548338","wikidata":"https://www.wikidata.org/wiki/Q2493","display_name":"Data compression","level":2,"score":0.5047522783279419},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4978039264678955},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48686590790748596},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.4629318118095398},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.32541418075561523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27587535977363586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11281657218933105},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610133","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W80201019","https://openalex.org/W1518615326","https://openalex.org/W1968624982","https://openalex.org/W1978848993","https://openalex.org/W2028074041","https://openalex.org/W2108404353","https://openalex.org/W2122161467","https://openalex.org/W2157945087","https://openalex.org/W2162735718","https://openalex.org/W2169528473","https://openalex.org/W2325649332","https://openalex.org/W2917426533","https://openalex.org/W2941237017","https://openalex.org/W2941989334","https://openalex.org/W2979170133","https://openalex.org/W3003420970","https://openalex.org/W3130631955","https://openalex.org/W3132903969","https://openalex.org/W3133220257","https://openalex.org/W3147079603","https://openalex.org/W4292604000","https://openalex.org/W4300030381","https://openalex.org/W4386096956","https://openalex.org/W4387092482","https://openalex.org/W6780316117"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W2612632602","https://openalex.org/W2321805087"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,6,45,52,87,101,105,131,138],"problem":[4],"of":[5,8,48,133],"communication":[7,60],"optimally":[9],"compressed":[10,83],"information":[11,84],"for":[12],"mobile":[13,19],"robot":[14,29,139],"path-planning.":[15],"In":[16],"this":[17],"context,":[18],"robots":[20],"compress":[21],"their":[22],"current":[23],"local":[24],"maps":[25],"to":[26,85,103],"assist":[27],"another":[28],"in":[30,34,66,113,136],"reaching":[31],"a":[32,40,78,114,119],"target":[33,142],"an":[35,97],"unknown":[36,88],"environment.":[37],"We":[38,76],"propose":[39],"framework":[41,135],"that":[42,81,99],"sequentially":[43],"selects":[44],"optimal":[46,106],"level":[47],"compression,":[49],"guided":[50],"by":[51,55,143,149],"robot\u2019s":[53],"path,":[54],"balancing":[56],"map":[57,117,121],"resolution":[58],"and":[59,69,96,118,122],"cost.":[61],"Our":[62],"approach":[63],"is":[64],"tractable":[65],"close-to-real":[67,116],"scenarios":[68],"does":[70],"not":[71],"necessitate":[72],"prior":[73],"environment":[74,89],"knowledge.":[75],"design":[77],"novel":[79],"decoder":[80,102],"leverages":[82],"estimate":[86],"via":[90],"convex":[91],"optimization":[92],"with":[93,124],"linear":[94],"constraints":[95],"encoder":[98],"utilizes":[100],"select":[104],"compression.":[107],"Numerical":[108],"simulations":[109],"are":[110],"conducted":[111],"both":[112],"large":[115],"maze":[120],"compared":[123],"two":[125],"alternative":[126],"approaches.":[127],"The":[128],"results":[129],"confirm":[130],"effectiveness":[132],"our":[134],"assisting":[137],"reach":[140],"its":[141],"reducing":[144],"transmitted":[145],"information,":[146],"on":[147],"average,":[148],"approximately":[150],"50%,":[151],"while":[152],"maintaining":[153],"satisfactory":[154],"performance.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}