{"id":"https://openalex.org/W2125968460","doi":"https://doi.org/10.1109/iros.2009.5354732","title":"An exploration method for general robotic systems equipped with multiple sensors","display_name":"An exploration method for general robotic systems equipped with multiple sensors","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2125968460","doi":"https://doi.org/10.1109/iros.2009.5354732","mag":"2125968460"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354732","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5008569555","display_name":"Luigi Freda","orcid":"https://orcid.org/0000-0002-2268-6045"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Freda","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \"La Sapienza\", Italy","Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \u201cLa Sapienza\u201d, Via Ariosto 25, 00185, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \"La Sapienza\", Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \u201cLa Sapienza\u201d, Via Ariosto 25, 00185, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \"La Sapienza\", Italy","Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \u201cLa Sapienza\u201d, Via Ariosto 25, 00185, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \"La Sapienza\", Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \u201cLa Sapienza\u201d, Via Ariosto 25, 00185, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040787892","display_name":"Francesco Vecchioli","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Vecchioli","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \"La Sapienza\", Italy","Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \u201cLa Sapienza\u201d, Via Ariosto 25, 00185, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \"La Sapienza\", Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma \u201cLa Sapienza\u201d, Via Ariosto 25, 00185, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56284086,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"271","issue":null,"first_page":"5076","last_page":"5082"},"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":0.9973000288009644,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.694648027420044},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.6843668222427368},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6439467668533325},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5457408428192139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49033093452453613},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.45596665143966675},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.4288111925125122},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3918778896331787},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3286702036857605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1503736674785614},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13290411233901978}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.694648027420044},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.6843668222427368},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6439467668533325},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5457408428192139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49033093452453613},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.45596665143966675},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.4288111925125122},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3918778896331787},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3286702036857605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1503736674785614},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13290411233901978},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354732","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.512.2117","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.512.2117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.phriends.eu/iros_09b.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/210097","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/210097","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1534742889","https://openalex.org/W1541798161","https://openalex.org/W2092705708","https://openalex.org/W2096916336","https://openalex.org/W2098656877","https://openalex.org/W2108739153","https://openalex.org/W2109142140","https://openalex.org/W2112423861","https://openalex.org/W2128140866","https://openalex.org/W2165023100","https://openalex.org/W2166471602","https://openalex.org/W2171771720","https://openalex.org/W2172093163","https://openalex.org/W2336416123","https://openalex.org/W3104753760","https://openalex.org/W4255300212"],"related_works":["https://openalex.org/W4237277701","https://openalex.org/W2121424666","https://openalex.org/W4301250310","https://openalex.org/W2055420561","https://openalex.org/W2067700950","https://openalex.org/W1669998927","https://openalex.org/W3162039195","https://openalex.org/W2071225893","https://openalex.org/W4250321999","https://openalex.org/W2498652051"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,30],"novel":[4],"method":[5,22,85],"for":[6,70],"sensor-based":[7],"exploration":[8,75],"of":[9,29,41,62,108],"unknown":[10],"environments":[11],"by":[12,46,80,97],"general":[14,83],"robotic":[15],"system":[16],"equipped":[17],"with":[18,86],"multiple":[19],"sensors.":[20],"The":[21,39],"is":[23,44,110],"based":[24],"on":[25],"the":[26,42,49,53,60,63,68,82,113],"incremental":[27],"generation":[28],"configuration-space":[31],"data":[32],"structure":[33],"called":[34],"Sensor-based":[35],"Exploration":[36],"Tree":[37],"(SET).":[38],"expansion":[40],"SET":[43,84,109],"driven":[45],"information":[47],"at":[48],"world":[50],"level,":[51],"where":[52],"perception":[54],"process":[55],"takes":[56],"place.":[57],"In":[58],"particular,":[59],"frontiers":[61],"explored":[64],"region":[65],"efficiently":[66],"guide":[67],"search":[69],"informative":[71],"view":[72],"configurations.":[73],"Different":[74],"strategies":[76,92],"may":[77],"be":[78],"obtained":[79],"instantiating":[81],"different":[87],"sampling":[88],"techniques.":[89],"Two":[90],"such":[91],"are":[93],"presented":[94],"and":[95,102],"compared":[96],"simulations":[98],"in":[99,112],"non-trivial":[100],"2D":[101],"3D":[103],"worlds.":[104],"A":[105],"completeness":[106],"analysis":[107],"given":[111],"paper.":[114]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
