{"id":"https://openalex.org/W2162749803","doi":"https://doi.org/10.1109/iros.2011.6094562","title":"Adaptive look-ahead for robotic navigation in unknown environments","display_name":"Adaptive look-ahead for robotic navigation in unknown environments","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2162749803","doi":"https://doi.org/10.1109/iros.2011.6094562","mag":"2162749803"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094562","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5019054528","display_name":"Greg Droge","orcid":"https://orcid.org/0000-0001-5247-8573"},"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":"G. Droge","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"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":"M. Egerstedt","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":2.1401,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.91025525,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1134","last_page":"1139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9976000189781189,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.7946183681488037},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.6413835287094116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6031550168991089},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5872502326965332},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.48839348554611206},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44385936856269836},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4159303903579712},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41383013129234314},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40090832114219666},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3531525731086731},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32843753695487976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3233388066291809},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29221686720848083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11710050702095032},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11120733618736267}],"concepts":[{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.7946183681488037},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.6413835287094116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6031550168991089},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5872502326965332},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48839348554611206},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44385936856269836},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4159303903579712},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41383013129234314},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40090832114219666},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3531525731086731},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32843753695487976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3233388066291809},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29221686720848083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11710050702095032},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11120733618736267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2011.6094562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094562","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.962.5436","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.962.5436","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://gritslab.gatech.edu/home/wp-content/uploads/2012/01/Adaptive-Look-Ahead-for-Robotic-Navigation.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.972.5750","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.972.5750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.ece.gatech.edu/%7Emagnus/Papers/IROSLook11.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.699999988079071,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W292508636","https://openalex.org/W1424654272","https://openalex.org/W1540972459","https://openalex.org/W1574514837","https://openalex.org/W1978956894","https://openalex.org/W2096078692","https://openalex.org/W2110144538","https://openalex.org/W2111034649","https://openalex.org/W2120563333","https://openalex.org/W2131426639","https://openalex.org/W2297172695","https://openalex.org/W2611243847","https://openalex.org/W6632685538"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2906267174","https://openalex.org/W134501823","https://openalex.org/W2615656344","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W4286622840"],"abstract_inverted_index":{"Receding":[0],"horizon":[1,21,46,55,77,100,117],"control":[2,9,130],"strategies":[3],"have":[4],"proven":[5],"effective":[6],"in":[7,31,36,65],"many":[8,32],"and":[10],"robotic":[11],"applications.":[12],"These":[13],"methods":[14],"simulate":[15],"the":[16,23,27,40,58,66,69,115,125,128,137,150,157],"state":[17,71,141],"a":[18,53,75,88,98,111,120],"certain":[19],"time":[20,45,54,116,146,166],"into":[22],"future":[24,70],"to":[25,80],"choose":[26],"optimal":[28],"trajectory.":[29],"However,":[30],"cases,":[33],"such":[34],"as":[35,49],"mobile":[37],"robot":[38],"navigation,":[39],"selection":[41],"of":[42,52,68,74,113,127,139,159],"an":[43,153,164],"appropriate":[44],"is":[47],"important":[48],"too":[50,73],"long":[51],"can":[56],"amplify":[57],"detrimental":[59],"effects":[60],"caused":[61],"by":[62,95,118],"environmental":[63],"uncertainties":[64],"prediction":[67,142],"while":[72],"short":[76],"will":[78],"lead":[79],"reduced":[81],"performance.":[82],"In":[83],"this":[84],"paper":[85],"we":[86],"strike":[87],"balance":[89],"between":[90],"these":[91],"two":[92],"conflicting":[93],"objectives":[94],"first":[96],"introducing":[97],"receding":[99],"method":[101,112],"for":[102],"navigation":[103,161],"founded":[104],"on":[105],"schema-based":[106],"behaviors.":[107],"We":[108,148],"then":[109],"suggest":[110],"adapting":[114],"minimizing":[119],"cost":[121],"function":[122],"which":[123,155],"balances":[124],"performance":[126,138],"underlying":[129],"problem":[131],"(which":[132,143],"prefers":[133,144],"longer":[134],"horizons)":[135],"with":[136,152,163],"our":[140,160],"shorter":[145],"horizons).":[147],"illustrate":[149],"operation":[151],"example":[154],"shows":[156],"usefulness":[158],"scheme":[162],"adaptive":[165],"horizon.":[167]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}