{"id":"https://openalex.org/W2561837526","doi":"https://doi.org/10.1109/iros.2016.7759426","title":"Efficient object search for mobile robots in dynamic environments: Semantic map as an input for the decision maker","display_name":"Efficient object search for mobile robots in dynamic environments: Semantic map as an input for the decision maker","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561837526","doi":"https://doi.org/10.1109/iros.2016.7759426","mag":"2561837526"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5014594931","display_name":"Tiago Veiga","orcid":"https://orcid.org/0000-0002-5844-9383"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210109601","display_name":"Instituto de Engenharia de Sistemas e Computadores Microsistemas e Nanotecnologias","ror":"https://ror.org/022mzwp71","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210109601","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Tiago S. Veiga","raw_affiliation_strings":["Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa"],"affiliations":[{"raw_affiliation_string":"Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa","institution_ids":["https://openalex.org/I4210109601","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016015016","display_name":"Pedro Miraldo","orcid":"https://orcid.org/0000-0002-8551-2448"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210109601","display_name":"Instituto de Engenharia de Sistemas e Computadores Microsistemas e Nanotecnologias","ror":"https://ror.org/022mzwp71","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210109601","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Miraldo","raw_affiliation_strings":["Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa"],"affiliations":[{"raw_affiliation_string":"Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa","institution_ids":["https://openalex.org/I4210109601","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[{"id":"https://openalex.org/I4210109601","display_name":"Instituto de Engenharia de Sistemas e Computadores Microsistemas e Nanotecnologias","ror":"https://ror.org/022mzwp71","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210109601","https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa"],"affiliations":[{"raw_affiliation_string":"Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa","institution_ids":["https://openalex.org/I4210109601","https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079158943","display_name":"Pedro U. Lima","orcid":"https://orcid.org/0000-0002-8962-8050"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210109601","display_name":"Instituto de Engenharia de Sistemas e Computadores Microsistemas e Nanotecnologias","ror":"https://ror.org/022mzwp71","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210109601","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro U. Lima","raw_affiliation_strings":["Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa"],"affiliations":[{"raw_affiliation_string":"Instituto de Sistemas e Rob\u00f3tica Instituto Superior T\u00e9cnico, Universidade de Lisboa","institution_ids":["https://openalex.org/I4210109601","https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014594931"],"corresponding_institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210109601"],"apc_list":null,"apc_paid":null,"fwci":4.5787,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.94361485,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2745","last_page":"2750"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9955000281333923,"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/T13382","display_name":"Robotics and Automated Systems","score":0.994700014591217,"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/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.8092846870422363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7731767296791077},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.604057252407074},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5577808618545532},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5560587048530579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5540918111801147},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5440146923065186},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5238480567932129},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49806690216064453},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4854314923286438},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3988422155380249},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3373975455760956},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3304824233055115},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.27842479944229126},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.15602728724479675}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.8092846870422363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7731767296791077},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.604057252407074},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5577808618545532},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5560587048530579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5540918111801147},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5440146923065186},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5238480567932129},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49806690216064453},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4854314923286438},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3988422155380249},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3373975455760956},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3304824233055115},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.27842479944229126},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.15602728724479675},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W45766481","https://openalex.org/W1824971879","https://openalex.org/W1984338812","https://openalex.org/W2011764417","https://openalex.org/W2031060683","https://openalex.org/W2042452952","https://openalex.org/W2061902052","https://openalex.org/W2105849221","https://openalex.org/W2126262029","https://openalex.org/W2152864241","https://openalex.org/W2158907787","https://openalex.org/W2163096900","https://openalex.org/W2168359464","https://openalex.org/W3101822862","https://openalex.org/W6601831483","https://openalex.org/W6678880430","https://openalex.org/W6684119540"],"related_works":["https://openalex.org/W2123651102","https://openalex.org/W2953027552","https://openalex.org/W2287992105","https://openalex.org/W2570299561","https://openalex.org/W2392831491","https://openalex.org/W2117555338","https://openalex.org/W2130339357","https://openalex.org/W1512585804","https://openalex.org/W1526144783","https://openalex.org/W2163814182"],"abstract_inverted_index":{"In":[0],"this":[1,135],"work":[2],"we":[3],"study":[4],"the":[5,30,34,41,48,53,63,66,80,97,113,139],"efficient":[6],"search":[7,92,140],"of":[8,55,90],"objects":[9,128],"in":[10,65,96,112,119],"domestic":[11],"environments,":[12],"using":[13,125],"probabilistic":[14],"logic":[15],"to":[16,36,43],"represent":[17],"uncertainty":[18],"about":[19,47,62],"object":[20,49,81],"location":[21],"and":[22,68,129],"partially":[23],"observable":[24],"Markov":[25],"decision":[26],"processes":[27],"(POMDP)":[28],"for":[29,93],"decision-making":[31,103],"process":[32,141],"regarding":[33],"movements":[35],"be":[37],"carried":[38],"out":[39],"by":[40,71],"robot":[42],"improve":[44],"its":[45],"belief":[46],"locations.":[50],"We":[51],"propose":[52],"use":[54],"a":[56,102,107,120,130],"semantic":[57,85],"map":[58],"that":[59,100,134],"stores":[60],"information":[61,77,95],"knowledge":[64],"system":[67],"updates":[69],"it,":[70],"an":[72],"inference":[73],"process,":[74],"with":[75],"sensor":[76],"received":[78],"from":[79],"recognition":[82],"module.":[83],"However,":[84],"maps":[86],"are":[87],"not":[88],"capable":[89],"actively":[91],"more":[94,142],"environment.":[98],"For":[99],"reason":[101],"module,":[104],"based":[105],"on":[106],"POMDP":[108],"framework,":[109],"is":[110],"integrated":[111],"system.":[114],"Several":[115],"experiments":[116],"were":[117],"made":[118],"realistic":[121],"apartment":[122],"test":[123],"bed":[124],"every":[126],"day":[127],"mobile":[131],"robot,":[132],"showing":[133],"hybrid":[136],"solution":[137],"makes":[138],"efficient.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
