{"id":"https://openalex.org/W2202016973","doi":"https://doi.org/10.1109/iros.2015.7354125","title":"Planning for serendipity","display_name":"Planning for serendipity","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2202016973","doi":"https://doi.org/10.1109/iros.2015.7354125","mag":"2202016973"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5003213012","display_name":"Tathagata\ufeff Chakraborti","orcid":"https://orcid.org/0000-0003-2905-5454"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tathagata Chakraborti","raw_affiliation_strings":["Department of Computer Science, Arizona State University, Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004772750","display_name":"Gordon Briggs","orcid":"https://orcid.org/0000-0001-8375-3830"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gordon Briggs","raw_affiliation_strings":["HRI Laboratory, Tufts University, Medford, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HRI Laboratory, Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060691179","display_name":"Kartik Talamadupula","orcid":"https://orcid.org/0000-0002-4628-3785"},"institutions":[{"id":"https://openalex.org/I4210114115","display_name":"IBM Research - Thomas J. Watson Research Center","ror":"https://ror.org/0265w5591","country_code":"US","type":"facility","lineage":["https://openalex.org/I1341412227","https://openalex.org/I4210114115"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kartik Talamadupula","raw_affiliation_strings":["Cognitive Learning Department at IBM Thomas J. Watson Research Center, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Learning Department at IBM Thomas J. Watson Research Center, NY, USA","institution_ids":["https://openalex.org/I4210114115"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433693","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0003-1202-626X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Department of Computer Science, Arizona State University, Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044523801","display_name":"Matthias Scheutz","orcid":"https://orcid.org/0000-0002-0064-2789"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthias Scheutz","raw_affiliation_strings":["Tufts University, Medford, MA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tufts University, Medford, MA, US","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034627279","display_name":"David E. Smith","orcid":"https://orcid.org/0000-0003-2791-4964"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Smith","raw_affiliation_strings":["Autonomous Systems & Robotics Intelligent Systems Division, NASA Ames Research Center, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems & Robotics Intelligent Systems Division, NASA Ames Research Center, NY, USA","institution_ids":["https://openalex.org/I1280536761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023323170","display_name":"Subbarao Kambhampati","orcid":"https://orcid.org/0000-0002-9069-0265"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subbarao Kambhampati","raw_affiliation_strings":["Department of Computer Science, Arizona State University, Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5300","last_page":"5306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9973999857902527,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9972000122070312,"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/serendipity","display_name":"Serendipity","score":0.9673909544944763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7789813280105591},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6235991716384888},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5692302584648132},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5170512795448303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49735143780708313},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40713590383529663},{"id":"https://openalex.org/keywords/management-science","display_name":"Management science","score":0.37363341450691223},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3549014925956726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2820644676685333},{"id":"https://openalex.org/keywords/epistemology","display_name":"Epistemology","score":0.10634052753448486}],"concepts":[{"id":"https://openalex.org/C2779119418","wikidata":"https://www.wikidata.org/wiki/Q166039","display_name":"Serendipity","level":2,"score":0.9673909544944763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7789813280105591},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6235991716384888},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5692302584648132},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5170512795448303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49735143780708313},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40713590383529663},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.37363341450691223},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3549014925956726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2820644676685333},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.10634052753448486},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7354125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W123308351","https://openalex.org/W630739203","https://openalex.org/W1489779243","https://openalex.org/W1860730561","https://openalex.org/W2033821732","https://openalex.org/W2046213647","https://openalex.org/W2047123785","https://openalex.org/W2053410861","https://openalex.org/W2108572084","https://openalex.org/W2219531351","https://openalex.org/W6604984984","https://openalex.org/W6629364499","https://openalex.org/W6638995053"],"related_works":["https://openalex.org/W4205615116","https://openalex.org/W2154428221","https://openalex.org/W2531086667","https://openalex.org/W4392612085","https://openalex.org/W35325473","https://openalex.org/W1876349746","https://openalex.org/W3125216959","https://openalex.org/W3021907593","https://openalex.org/W2045676999","https://openalex.org/W2765630348"],"abstract_inverted_index":{"Recently":[0],"there":[1],"has":[2,49],"been":[3,51],"a":[4,109,118,130],"lot":[5],"of":[6,20,29,34,45,56,80,104,121],"focus":[7],"on":[8,24,69,108,124],"human":[9,131],"robot":[10],"co-habitation":[11],"issues":[12],"that":[13,48],"are":[14],"often":[15],"orthogonal":[16],"to":[17],"many":[18],"aspects":[19],"human-robot":[21],"teaming;":[22],"e.g.":[23],"producing":[25],"socially":[26],"acceptable":[27],"behaviors":[28],"robots":[30,35],"and":[31,36,88,113,116],"de-conflicting":[32],"plans":[33],"humans":[37],"in":[38,71],"shared":[39],"environments.":[40],"However,":[41],"an":[42,90],"interesting":[43],"offshoot":[44],"these":[46],"settings":[47],"largely":[50],"overlooked":[52],"is":[53],"the":[54,85,101,122,125],"problem":[55],"planning":[57,62,81,106],"for":[58,63,82,84,95],"serendipity":[59,83],"-":[60],"i.e.":[61],"stigmergic":[64],"collaboration":[65],"without":[66],"explicit":[67],"commitments":[68],"agents":[70],"co-habitation.":[72],"In":[73],"this":[74,78,96,105],"paper":[75],"we":[76,99],"formalize":[77],"notion":[79],"first":[86],"time,":[87],"provide":[89],"Integer":[91],"Programming":[92],"based":[93],"solution":[94],"problem.":[97],"Further,":[98],"illustrate":[100],"different":[102],"modes":[103],"technique":[107],"typical":[110],"Urban":[111],"Search":[112],"Rescue":[114],"scenario":[115],"show":[117],"real-life":[119],"implementation":[120],"ideas":[123],"Nao":[126],"Robot":[127],"interacting":[128],"with":[129],"colleague.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}