{"id":"https://openalex.org/W2743166943","doi":"https://doi.org/10.1109/iros.2017.8202147","title":"Online information gathering using sampling-based planners and GPs: An information theoretic approach","display_name":"Online information gathering using sampling-based planners and GPs: An information theoretic approach","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2743166943","doi":"https://doi.org/10.1109/iros.2017.8202147","mag":"2743166943"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5059112748","display_name":"Alberto Viseras","orcid":"https://orcid.org/0000-0001-5219-6533"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alberto Viseras","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047628893","display_name":"Dmitriy Shutin","orcid":"https://orcid.org/0000-0002-6065-6453"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dmitriy Shutin","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Merino","raw_affiliation_strings":["Universidad Pablo de Olavide, Seville, Spain"],"affiliations":[{"raw_affiliation_string":"Universidad Pablo de Olavide, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059112748"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":0.7388,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.808585,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"123","last_page":"130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9563000202178955,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/global-positioning-system","display_name":"Global Positioning System","score":0.8030116558074951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6876474022865295},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5312963128089905},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.3917376697063446},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12781217694282532}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8030116558074951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876474022865295},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5312963128089905},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.3917376697063446},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12781217694282532},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2017.8202147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:113515","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:elib.dlr.de:118907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS.2017.8202147>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W164706946","https://openalex.org/W1486606806","https://openalex.org/W1569601317","https://openalex.org/W1573725801","https://openalex.org/W1955452002","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2016930536","https://openalex.org/W2021774297","https://openalex.org/W2034656218","https://openalex.org/W2056554710","https://openalex.org/W2107667896","https://openalex.org/W2115384379","https://openalex.org/W2125069195","https://openalex.org/W2129298951","https://openalex.org/W2131824593","https://openalex.org/W2143088799","https://openalex.org/W2152430560","https://openalex.org/W2166295994","https://openalex.org/W2169645448","https://openalex.org/W2245510719","https://openalex.org/W2415731567","https://openalex.org/W2532574496","https://openalex.org/W3003506411","https://openalex.org/W3083135905","https://openalex.org/W3099664902","https://openalex.org/W4211049957","https://openalex.org/W6631084031","https://openalex.org/W6640881546","https://openalex.org/W6679608865","https://openalex.org/W6682809161","https://openalex.org/W6684953212","https://openalex.org/W6690912968","https://openalex.org/W6729148923"],"related_works":["https://openalex.org/W2102280945","https://openalex.org/W2785230770","https://openalex.org/W2577361510","https://openalex.org/W2353068282","https://openalex.org/W4304203219","https://openalex.org/W4220693378","https://openalex.org/W2378155762","https://openalex.org/W1996408511","https://openalex.org/W2775909735","https://openalex.org/W4243216499"],"abstract_inverted_index":{"Information":[0],"gathering":[1,68],"algorithms":[2,35,41,61],"aim":[3],"to":[4,11,98],"intelligently":[5],"select":[6],"the":[7,45,78,111,119,127,131,137,140,157],"robot":[8,97,112,155],"actions":[9],"required":[10],"efficiently":[12],"obtain":[13],"an":[14,23,104,123,149,162],"accurate":[15],"reconstruction":[16],"of":[17,44,118,126,133,139],"a":[18,27,73,89,96,153],"physical":[19],"process,":[20],"such":[21],"as":[22,145,147],"occupancy":[24],"map,":[25],"or":[26],"magnetic":[28,158],"field.":[29],"Many":[30],"recent":[31],"works":[32],"have":[33],"proposed":[34,141],"for":[36,53,65],"information":[37,67],"gathering.":[38],"However,":[39],"these":[40],"employ":[42],"discretization":[43],"state":[46],"space,":[47],"which":[48,152],"makes":[49],"them":[50],"computationally":[51],"intractable":[52],"robotic":[54],"systems":[55],"with":[56,148,166],"complex":[57],"dynamics.":[58],"Moreover,":[59],"most":[60],"are":[62],"not":[63],"suited":[64],"online":[66,124],"tasks.":[69],"This":[70],"paper":[71],"presents":[72],"novel":[74],"approach":[75,84],"that":[76,94,109],"tackles":[77],"two":[79,86,120],"aforementioned":[80],"issues.":[81],"Specifically,":[82],"our":[83],"includes":[85],"intertwined":[87],"steps:":[88],"Gaussian":[90],"processes":[91],"(GPs)-based":[92],"prediction":[93],"allows":[95,122],"identify":[99],"highly":[100],"unexplored":[101],"locations,":[102],"and":[103],"RRT*-based":[105],"informative":[106],"path":[107],"planning":[108],"guides":[110],"towards":[113],"those":[114],"locations.":[115],"The":[116],"combination":[117],"steps":[121],"realization":[125],"algorithm,":[128],"while":[129],"eliminates":[130],"need":[132],"discretization.":[134],"We":[135],"demonstrate":[136],"effectiveness":[138],"algorithm":[142],"in":[143,151],"simulations,":[144],"well":[146],"experiment":[150],"ground-based":[154],"explores":[156],"field":[159],"intensity":[160],"within":[161],"indoor":[163],"environment":[164],"populated":[165],"obstacles.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
