{"id":"https://openalex.org/W4401413653","doi":"https://doi.org/10.1109/icra57147.2024.10611495","title":"Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization","display_name":"Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413653","doi":"https://doi.org/10.1109/icra57147.2024.10611495"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611495","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611495","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/A5016931059","display_name":"Yewei Huang","orcid":"https://orcid.org/0000-0002-2505-6022"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yewei Huang","raw_affiliation_strings":["Stevens Institute of Technology,Hoboken,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Hoboken,NJ,USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450524","display_name":"Lin Xi","orcid":"https://orcid.org/0000-0003-0118-7391"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xi Lin","raw_affiliation_strings":["Stevens Institute of Technology,Hoboken,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Hoboken,NJ,USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044251670","display_name":"Brendan Englot","orcid":"https://orcid.org/0000-0002-7966-2917"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan Englot","raw_affiliation_strings":["Stevens Institute of Technology,Hoboken,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology,Hoboken,NJ,USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.531,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91505445,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7236","last_page":"7242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T12288","display_name":"Optimization and Search Problems","score":0.9944000244140625,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6401495933532715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6331444978713989},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5877469182014465},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.550078272819519},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5399423241615295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5191187858581543},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36529237031936646},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.21620622277259827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1727088987827301}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6401495933532715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6331444978713989},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5877469182014465},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.550078272819519},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5399423241615295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5191187858581543},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36529237031936646},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.21620622277259827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1727088987827301}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611495","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611495","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":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1562003885","https://openalex.org/W1968315983","https://openalex.org/W1988372419","https://openalex.org/W2023716923","https://openalex.org/W2115126368","https://openalex.org/W2142924305","https://openalex.org/W2155620850","https://openalex.org/W2336416123","https://openalex.org/W2461937780","https://openalex.org/W2495871221","https://openalex.org/W2562845103","https://openalex.org/W2580831541","https://openalex.org/W2604621921","https://openalex.org/W2790514337","https://openalex.org/W2911191541","https://openalex.org/W2911679274","https://openalex.org/W2967029387","https://openalex.org/W2980650188","https://openalex.org/W2990723925","https://openalex.org/W3004281301","https://openalex.org/W3019349330","https://openalex.org/W3044932790","https://openalex.org/W3106004627","https://openalex.org/W3124420883","https://openalex.org/W3134638636","https://openalex.org/W3207022667","https://openalex.org/W4221167421","https://openalex.org/W4312565892","https://openalex.org/W4312776494","https://openalex.org/W4327662982","https://openalex.org/W4383108317"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4385801697","https://openalex.org/W4288626232","https://openalex.org/W8302103","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0],"propose":[1],"an":[2,44],"autonomous":[3],"exploration":[4],"algorithm":[5,48],"designed":[6],"for":[7],"decentralized":[8],"multi-robot":[9],"teams,":[10],"which":[11],"takes":[12],"into":[13],"account":[14],"map":[15,39,95],"and":[16,35,59,97],"localization":[17],"uncertainties":[18],"of":[19,32,54,68,81],"range-sensing":[20],"mobile":[21],"robots.":[22,103],"Virtual":[23],"landmarks":[24],"are":[25],"used":[26],"to":[27,49,89],"quantify":[28],"the":[29,51,66,85],"combined":[30],"impact":[31],"process":[33],"noise":[34,37],"sensor":[36],"on":[38],"uncertainty.":[40],"Additionally,":[41],"we":[42,71],"employ":[43],"iterative":[45],"expectation-maximization":[46],"inspired":[47],"assess":[50],"potential":[52],"out-comes":[53],"both":[55],"a":[56,73,91],"local":[57],"robot\u2019s":[58],"its":[60],"neighbors\u2019":[61],"next-step":[62],"actions.":[63],"To":[64],"evaluate":[65],"effectiveness":[67],"our":[69,82],"framework,":[70],"conduct":[72],"comparative":[74],"analysis":[75],"with":[76],"state-of-the-art":[77],"algorithms.":[78],"The":[79],"results":[80],"experiments":[83],"show":[84],"proposed":[86],"algorithm\u2019s":[87],"capacity":[88],"strike":[90],"balance":[92],"between":[93],"curbing":[94],"uncertainty":[96],"achieving":[98],"efficient":[99],"task":[100],"allocation":[101],"among":[102]},"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"}
