{"id":"https://openalex.org/W2167291723","doi":"https://doi.org/10.1109/irds.2002.1041467","title":"A multisine approach for trajectory optimization based on information gain","display_name":"A multisine approach for trajectory optimization based on information gain","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2167291723","doi":"https://doi.org/10.1109/irds.2002.1041467","mag":"2167291723"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.lancs.ac.uk/id/eprint/824/2/RAS.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006505402","display_name":"Lyudmila Mihaylova","orcid":"https://orcid.org/0000-0001-5856-2223"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"L. Mihaylova","raw_affiliation_strings":["Department of Mechanical Engineering, Division PMA, Katholieke Universiteit Leuven, Heverlee, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Division PMA, Katholieke Universiteit Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"J. De Schutter","raw_affiliation_strings":["Department of Mechanical Engineering, Division PMA, Katholieke Universiteit Leuven, Heverlee, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Division PMA, Katholieke Universiteit Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"H. Bruyninckx","raw_affiliation_strings":["Department of Mechanical Engineering, Division PMA, Katholieke Universiteit Leuven, Heverlee, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Division PMA, Katholieke Universiteit Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":1.1752,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79866393,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"661","last_page":"666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/trajectory","display_name":"Trajectory","score":0.7897435426712036},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6839216947555542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6322091817855835},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5866440534591675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5834008455276489},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5804398059844971},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5725773572921753},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5047274827957153},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5028380751609802},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4930410087108612},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.4810095727443695},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.47761720418930054},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4241732358932495},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34204402565956116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25762370228767395},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.22048550844192505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2181149125099182},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16114792227745056},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.1189810037612915}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7897435426712036},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6839216947555542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6322091817855835},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5866440534591675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5834008455276489},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5804398059844971},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5725773572921753},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5047274827957153},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5028380751609802},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4930410087108612},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.4810095727443695},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.47761720418930054},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4241732358932495},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34204402565956116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25762370228767395},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.22048550844192505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2181149125099182},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16114792227745056},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.1189810037612915},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/irds.2002.1041467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lancs.ac.uk:824","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.lancs.ac.uk/id/eprint/824/2/RAS.pdf","source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"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":"Journal Article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.18.4826","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.18.4826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.mech.kuleuven.ac.be/~lmihaylo/iros02.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.18.9357","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.18.9357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.mech.kuleuven.ac.be/~lmihaylo/RAS.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.60.7926","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.60.7926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.lancs.ac.uk/~mihaylov/RAS_WMR.pdf","raw_type":"text"},{"id":"pmh:oai:archive.ugent.be:215069","is_oa":false,"landing_page_url":"http://hdl.handle.net/1854/LU-215069","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 0921-8890","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/159175","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/159175/1/02PP010.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference in Intelligent Robots and Systems, Lausanne, Switserland, 30 September - 4 October 2002","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:eprints.lancs.ac.uk:824","is_oa":true,"landing_page_url":null,"pdf_url":"https://eprints.lancs.ac.uk/id/eprint/824/2/RAS.pdf","source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"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":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2167291723.pdf","grobid_xml":"https://content.openalex.org/works/W2167291723.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W73143588","https://openalex.org/W95541358","https://openalex.org/W1509577866","https://openalex.org/W1517273514","https://openalex.org/W1553616171","https://openalex.org/W1593770252","https://openalex.org/W1596122134","https://openalex.org/W1610930163","https://openalex.org/W1631187438","https://openalex.org/W1769585818","https://openalex.org/W1971998222","https://openalex.org/W1973240993","https://openalex.org/W1993711637","https://openalex.org/W1995875735","https://openalex.org/W2028860310","https://openalex.org/W2061504687","https://openalex.org/W2062562704","https://openalex.org/W2065087844","https://openalex.org/W2078856056","https://openalex.org/W2099544223","https://openalex.org/W2099873296","https://openalex.org/W2101593129","https://openalex.org/W2102621601","https://openalex.org/W2105934661","https://openalex.org/W2106237563","https://openalex.org/W2107802551","https://openalex.org/W2109142140","https://openalex.org/W2113889826","https://openalex.org/W2115356364","https://openalex.org/W2119757950","https://openalex.org/W2120712855","https://openalex.org/W2121990344","https://openalex.org/W2142710625","https://openalex.org/W2148160361","https://openalex.org/W2148970883","https://openalex.org/W2152536965","https://openalex.org/W2168024904","https://openalex.org/W2168359464","https://openalex.org/W2172103629","https://openalex.org/W2483982199","https://openalex.org/W6630941280","https://openalex.org/W6635684566","https://openalex.org/W6637778775"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W4249701897","https://openalex.org/W2107308837","https://openalex.org/W71119328","https://openalex.org/W360452402","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W2147558862","https://openalex.org/W4378942199","https://openalex.org/W4247004153"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,32,66,127],"multisine":[4],"approach":[5,112],"for":[6,126],"trajectory":[7,62,103],"optimization":[8,109],"based":[9],"on":[10],"information":[11],"gain,":[12],"with":[13,52,96,136],"distance":[14],"and":[15,50,87,118,137],"orientation":[16],"sensing":[17],"to":[18,98,115],"known":[19],"beacons.":[20],"It":[21],"addresses":[22],"the":[23,29,41,56],"problem":[24],"of":[25,31,37,69],"active":[26],"sensing,":[27],"i.e.":[28],"selection":[30],"robot":[33,42,131],"motion":[34],"or":[35],"sequence":[36],"motions,":[38],"which":[39,78],"make":[40],"arrive":[43],"in":[44,133],"its":[45],"desired":[46],"goal":[47],"configuration":[48],"(position":[49],"orientation)":[51],"maximum":[53,85],"accuracy,":[54],"given":[55],"available":[57],"sensor":[58],"information.":[59],"The":[60,101,111],"optimal":[61,102],"is":[63,76,104,113,123],"parameterized":[64],"as":[65],"linear":[67],"combination":[68],"sine":[70],"functions.":[71],"An":[72],"appropriate":[73],"optimality":[74],"criterion":[75],"selected":[77],"takes":[79],"into":[80],"account":[81],"various":[82],"requirements":[83],"(e.g.":[84],"accuracy":[86],"minimum":[88],"time).":[89],"Several":[90],"constraints":[91],"can":[92],"be":[93],"formulated,":[94],"e.g.":[95],"respect":[97],"collision":[99],"avoidance.":[100],"then":[105],"determined":[106],"by":[107],"numerical":[108],"techniques.":[110],"applicable":[114],"both":[116],"nonholonomic":[117,128],"holonomic":[119],"robots.":[120],"Its":[121],"effectiveness":[122],"illustrated":[124],"here":[125],"wheeled":[129],"mobile":[130],"(WMR)":[132],"an":[134],"environment":[135],"without":[138],"obstacles.":[139]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
