{"id":"https://openalex.org/W2908970796","doi":"https://doi.org/10.1109/iros.2018.8593394","title":"Uncertainty-based Online Mapping and Motion Planning for Marine Robotics Guidance","display_name":"Uncertainty-based Online Mapping and Motion Planning for Marine Robotics Guidance","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908970796","doi":"https://doi.org/10.1109/iros.2018.8593394","mag":"2908970796"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5019041076","display_name":"\u00c8ric Pairet","orcid":"https://orcid.org/0000-0002-3363-0426"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Eric Pairet","raw_affiliation_strings":["Edinburgh Centre for Robotics, Heriot-Watt University, UK"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Heriot-Watt University, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101609628","display_name":"Juan David Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9593-6789"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan David Hernandez","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069564559","display_name":"Morteza Lahijanian","orcid":"https://orcid.org/0000-0001-7549-4365"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Morteza Lahijanian","raw_affiliation_strings":["Department of Computer Science, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018440853","display_name":"Marc Carreras","orcid":"https://orcid.org/0000-0003-3117-9691"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"University of Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Marc Carreras","raw_affiliation_strings":["VICOROB, University of Girona, Spain"],"affiliations":[{"raw_affiliation_string":"VICOROB, University of Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019041076"],"corresponding_institution_ids":["https://openalex.org/I32062511"],"apc_list":null,"apc_paid":null,"fwci":1.9123,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.90169437,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2367","last_page":"2374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9972000122070312,"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/motion-planning","display_name":"Motion planning","score":0.8164632320404053},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7167908549308777},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6739779710769653},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6482865214347839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6084218621253967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5907639861106873},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5307915806770325},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4913114607334137},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4775077700614929},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4423849880695343},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4252767860889435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3564046621322632},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34301626682281494},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2396656572818756},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08622625470161438}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8164632320404053},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7167908549308777},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6739779710769653},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6482865214347839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6084218621253967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5907639861106873},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5307915806770325},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4913114607334137},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4775077700614929},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4423849880695343},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4252767860889435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3564046621322632},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34301626682281494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2396656572818756},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08622625470161438},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8593394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:138527","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:8f86726d-81c5-454e-94fc-eb18538a9af9","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:8f86726d-81c5-454e-94fc-eb18538a9af9","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2483205037","display_name":null,"funder_award_id":"EP/M019918/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1752118222","https://openalex.org/W1756618330","https://openalex.org/W1884545699","https://openalex.org/W1963696504","https://openalex.org/W1989967481","https://openalex.org/W2000359213","https://openalex.org/W2017646611","https://openalex.org/W2021082829","https://openalex.org/W2054566447","https://openalex.org/W2071279196","https://openalex.org/W2073656075","https://openalex.org/W2076552432","https://openalex.org/W2101496914","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2133844819","https://openalex.org/W2154647909","https://openalex.org/W2159555929","https://openalex.org/W2165216595","https://openalex.org/W2171266831","https://openalex.org/W2171792626","https://openalex.org/W2179600242","https://openalex.org/W2206417925","https://openalex.org/W2561657681","https://openalex.org/W2617410115","https://openalex.org/W4249315263","https://openalex.org/W6637729721","https://openalex.org/W6639461375"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2020829486","https://openalex.org/W4308217561","https://openalex.org/W2383775285","https://openalex.org/W1904098742","https://openalex.org/W2016451691"],"abstract_inverted_index":{"In":[0,78],"real-world":[1,153],"robotics,":[2],"motion":[3,74],"planning":[4,50],"remains":[5],"to":[6,17,38,43,56,80,134],"be":[7],"an":[8,88],"open":[9],"challenge.":[10],"Not":[11],"only":[12],"robotic":[13],"systems":[14,167],"are":[15],"required":[16],"move":[18],"through":[19],"unexplored":[20],"environments,":[21,66],"but":[22],"also":[23],"their":[24,29],"manoeuvrability":[25],"is":[26,42,61,139],"constrained":[27],"by":[28,114,149],"dynamics":[30],"and":[31,53,75,93,110,126,131,152,162],"often":[32],"suffer":[33],"from":[34],"uncertainty.":[35],"One":[36],"approach":[37,103],"overcome":[39],"this":[40,85],"problem":[41],"incrementally":[44,116],"map":[45],"the":[46,106,118,142,157,160],"surroundings":[47],"while,":[48],"simultaneously,":[49],"a":[51,57,121,145],"safe":[52],"feasible":[54,95],"path":[55],"desired":[58],"goal.":[59,135],"This":[60],"especially":[62],"critical":[63],"in":[64],"underwater":[65],"where":[67],"autonomous":[68],"vehicles":[69],"must":[70],"deal":[71],"with":[72,82,98,105,168],"both":[73],"environment":[76,119],"uncertainties.":[77],"order":[79],"cope":[81],"these":[83],"constraints,":[84],"work":[86],"proposes":[87],"uncertainty-based":[89],"framework":[90,138],"for":[91,166],"mapping":[92],"planning3":[94],"motions":[96],"online":[97,111],"probabilistic":[99,108],"safety-guarantees.":[100],"The":[101,136],"proposed":[102,137],"deals":[104],"motion,":[107],"safety,":[109],"computation":[112],"constraints":[113],"(i)":[115],"representing":[117],"as":[120],"collection":[122],"of":[123,159],"local":[124],"maps,":[125],"(ii)":[127],"iteratively":[128],"(re)planning":[129],"kinodynamically-feasible":[130],"probabilistically-safe":[132],"paths":[133],"evaluated":[140],"on":[141],"Sparus":[143],"II,":[144],"nonholonomic":[146],"torpedo-shaped":[147],"AUV,":[148],"conducting":[150],"simulated":[151],"trials,":[154],"thus":[155],"proving":[156],"efficacy":[158],"method":[161],"its":[163],"suitability":[164],"even":[165],"limited":[169],"on-board":[170],"computational":[171],"power.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}