{"id":"https://openalex.org/W4388562372","doi":"https://doi.org/10.1109/icstcc59206.2023.10308458","title":"Active search and coverage using point-cloud reinforcement learning","display_name":"Active search and coverage using point-cloud reinforcement learning","publication_year":2023,"publication_date":"2023-10-11","ids":{"openalex":"https://openalex.org/W4388562372","doi":"https://doi.org/10.1109/icstcc59206.2023.10308458"},"language":"en","primary_location":{"id":"doi:10.1109/icstcc59206.2023.10308458","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icstcc59206.2023.10308458","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2312.11410","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029461421","display_name":"Matthias Rosynski","orcid":"https://orcid.org/0000-0002-7091-2959"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":true,"raw_author_name":"Matthias Rosynski","raw_affiliation_strings":["Technical University of Cluj-Napoca,Department of Automation,Cluj-Napoca,Romania","Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca,Department of Automation,Cluj-Napoca,Romania","institution_ids":["https://openalex.org/I158333966"]},{"raw_affiliation_string":"Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103883205","display_name":"Alexandru Pop","orcid":null},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Alexandru Pop","raw_affiliation_strings":["Technical University of Cluj-Napoca,Department of Automation,Cluj-Napoca,Romania","Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca,Department of Automation,Cluj-Napoca,Romania","institution_ids":["https://openalex.org/I158333966"]},{"raw_affiliation_string":"Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058935509","display_name":"Lucian Bu\u015foniu","orcid":"https://orcid.org/0000-0001-8017-1296"},"institutions":[{"id":"https://openalex.org/I158333966","display_name":"Technical University of Cluj-Napoca","ror":"https://ror.org/03r8nwp71","country_code":"RO","type":"education","lineage":["https://openalex.org/I158333966"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Lucian Bu\u015foniu","raw_affiliation_strings":["Technical University of Cluj-Napoca,Department of Automation,Cluj-Napoca,Romania","Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Cluj-Napoca,Department of Automation,Cluj-Napoca,Romania","institution_ids":["https://openalex.org/I158333966"]},{"raw_affiliation_string":"Department of Automation, Technical University of Cluj-Napoca, Cluj-Napoca, Romania","institution_ids":["https://openalex.org/I158333966"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029461421"],"corresponding_institution_ids":["https://openalex.org/I158333966"],"apc_list":null,"apc_paid":null,"fwci":0.3404,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66868711,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"289","last_page":"296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9980999827384949,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8500128984451294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8230718970298767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6477339863777161},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6380136609077454},{"id":"https://openalex.org/keywords/oracle","display_name":"Oracle","score":0.6081275939941406},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.5479379892349243},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.47785040736198425},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4608229398727417},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4391201138496399},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3519291877746582}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8500128984451294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8230718970298767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6477339863777161},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6380136609077454},{"id":"https://openalex.org/C55166926","wikidata":"https://www.wikidata.org/wiki/Q2892946","display_name":"Oracle","level":2,"score":0.6081275939941406},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.5479379892349243},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.47785040736198425},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4608229398727417},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4391201138496399},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3519291877746582},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icstcc59206.2023.10308458","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icstcc59206.2023.10308458","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2312.11410","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.11410","pdf_url":"https://arxiv.org/pdf/2312.11410","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2312.11410","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.11410","pdf_url":"https://arxiv.org/pdf/2312.11410","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3310635244","display_name":null,"funder_award_id":"871295","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6870533126","display_name":null,"funder_award_id":"2014-2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7951888176","display_name":null,"funder_award_id":"871295","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388562372.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W2167340365","https://openalex.org/W2560609797","https://openalex.org/W2761873684","https://openalex.org/W2786036844","https://openalex.org/W2951799221","https://openalex.org/W2963121255","https://openalex.org/W2963390419","https://openalex.org/W2981983525","https://openalex.org/W3004751533","https://openalex.org/W3089397057","https://openalex.org/W3111535274","https://openalex.org/W3129441500","https://openalex.org/W3132473140","https://openalex.org/W3137986185","https://openalex.org/W3153465022","https://openalex.org/W3163800191","https://openalex.org/W4214717370","https://openalex.org/W4281382292","https://openalex.org/W4286212752","https://openalex.org/W4298876402","https://openalex.org/W4309395337","https://openalex.org/W4311991822","https://openalex.org/W4320518352","https://openalex.org/W4385245566","https://openalex.org/W4386066515","https://openalex.org/W4386075508","https://openalex.org/W6683300800","https://openalex.org/W6685444567","https://openalex.org/W6739778489","https://openalex.org/W6747827861","https://openalex.org/W6763422710","https://openalex.org/W6783275222","https://openalex.org/W6795006004","https://openalex.org/W6837932087","https://openalex.org/W6847104884","https://openalex.org/W6847110631"],"related_works":["https://openalex.org/W2953234277","https://openalex.org/W2626256601","https://openalex.org/W147410782","https://openalex.org/W2900413183","https://openalex.org/W4390975304","https://openalex.org/W3022252430","https://openalex.org/W4287804464","https://openalex.org/W3103989898","https://openalex.org/W3211292372","https://openalex.org/W2914522629"],"abstract_inverted_index":{"We":[0,163,211],"consider":[1],"a":[2,9,96,108,118,153,192],"problem":[3,38],"in":[4,23,71,79,92,100],"which":[5],"the":[6,24,30,46,72,80,93,101,106,145,156,174,180,188,208,222],"trajectory":[7],"of":[8,147,155],"mobile":[10],"3D":[11],"sensor":[12],"must":[13,114],"be":[14,115],"optimized":[15],"so":[16],"that":[17,126,135,166,195,202,206],"certain":[18],"objects":[19],"are":[20],"both":[21],"found":[22,116],"overall":[25],"scene":[26],"and":[27,43,45,83,95,134,149,199,217],"covered":[28],"by":[29,76,117,136],"point":[31,139],"cloud,":[32],"as":[33,35],"fast":[34],"possible.":[36],"This":[37],"is":[39,110],"called":[40],"target":[41],"search":[42],"coverage,":[44],"paper":[47],"provides":[48],"an":[49,204],"end-to-end":[50],"deep":[51,60,66,127],"reinforcement":[52],"learning":[53,69,130],"(RL)":[54],"solution":[55],"to":[56,88,172,179],"solve":[57],"it.":[58],"The":[59],"neural":[61],"network":[62,99,122,157,190],"combines":[63],"four":[64],"components:":[65],"hierarchical":[67,128],"feature":[68,129],"occurs":[70],"first":[73],"stage,":[74],"followed":[75],"multi-head":[77,167],"transformers":[78],"second,":[81],"max-pooling":[82],"merging":[84],"with":[85,191],"bypassed":[86],"information":[87],"preserve":[89],"spatial":[90],"relationships":[91],"third,":[94],"distributional":[97],"dueling":[98],"last":[102],"stage.":[103],"To":[104],"evaluate":[105],"method,":[107],"simulator":[109],"developed":[111],"where":[112],"cylinders":[113],"Kinect":[119],"sensor.":[120],"A":[121],"architecture":[123],"study":[124],"shows":[125],"works":[131],"for":[132,169,201],"RL":[133,186,213],"using":[137,187],"farthest":[138],"sampling":[140],"(FPS)":[141],"we":[142,184],"can":[143],"reduce":[144],"amount":[146],"points":[148],"achieve":[150],"not":[151],"only":[152],"reduction":[154],"size":[158],"but":[159,177],"also":[160,164],"better":[161,216],"results.":[162],"show":[165],"attention":[168],"point-clouds":[170],"helps":[171],"learn":[173],"agent":[175],"faster":[176],"converges":[178],"same":[181],"outcome.":[182],"Finally,":[183],"compare":[185],"best":[189],"greedy":[193,223],"baseline":[194],"maximizes":[196],"immediate":[197],"rewards":[198],"requires":[200],"purpose":[203],"oracle":[205],"predicts":[207],"next":[209],"observation.":[210],"decided":[212],"achieves":[214],"significantly":[215],"more":[218],"robust":[219],"results":[220],"than":[221],"strategy.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}
