{"id":"https://openalex.org/W2794467834","doi":"https://doi.org/10.1109/iros.2018.8594502","title":"History-Aware Autonomous Exploration in Confined Environments Using MAVs","display_name":"History-Aware Autonomous Exploration in Confined Environments Using MAVs","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2794467834","doi":"https://doi.org/10.1109/iros.2018.8594502","mag":"2794467834"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594502","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/330687","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070021134","display_name":"Christian Witting","orcid":"https://orcid.org/0000-0001-5247-0846"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Christian Witting","raw_affiliation_strings":["Faculty of Electrical Engineering, Technical University of Denmark, Lyngby, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Technical University of Denmark, Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029172184","display_name":"Marius Fehr","orcid":"https://orcid.org/0000-0003-3276-4067"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marius Fehr","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rik Behnemann","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rik Behnemann","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Helen Oleynikova","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7011837959289551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6884129643440247},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6251824498176575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5897853374481201},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.5631445050239563},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5260229706764221},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5113689303398132},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4904882609844208},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.4862455427646637},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4850437045097351},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4168539047241211},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4139314591884613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37615126371383667},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34457913041114807},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19559678435325623},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1489289104938507},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12368899583816528},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09037566184997559}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7011837959289551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6884129643440247},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6251824498176575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5897853374481201},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.5631445050239563},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5260229706764221},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5113689303398132},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4904882609844208},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.4862455427646637},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4850437045097351},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4168539047241211},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4139314591884613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37615126371383667},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34457913041114807},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19559678435325623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1489289104938507},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12368899583816528},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09037566184997559},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/iros.2018.8594502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594502","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:research-collection.ethz.ch:20.500.11850/330687","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/330687","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:arXiv.org:1803.10558","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.10558","pdf_url":"https://arxiv.org/pdf/1803.10558","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2794467834","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1803.10558","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/319871","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/319871","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.1803.10558","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1803.10558","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"doi:10.3929/ethz-b-000319871","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000319871","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/330687","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/330687","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1513090194","https://openalex.org/W1966213627","https://openalex.org/W1969209835","https://openalex.org/W1981988453","https://openalex.org/W1996985406","https://openalex.org/W2024676408","https://openalex.org/W2055569927","https://openalex.org/W2066713014","https://openalex.org/W2076518796","https://openalex.org/W2087387266","https://openalex.org/W2089437550","https://openalex.org/W2096268286","https://openalex.org/W2107667896","https://openalex.org/W2132129206","https://openalex.org/W2141664020","https://openalex.org/W2143088799","https://openalex.org/W2170220350","https://openalex.org/W2198182201","https://openalex.org/W2214613866","https://openalex.org/W2283534560","https://openalex.org/W2409009991","https://openalex.org/W2473476959","https://openalex.org/W2482392012","https://openalex.org/W2482852384","https://openalex.org/W2585083365","https://openalex.org/W2607968634","https://openalex.org/W2739036405","https://openalex.org/W2754177129","https://openalex.org/W2768147481","https://openalex.org/W2769990600","https://openalex.org/W2770176163","https://openalex.org/W3102129812","https://openalex.org/W6678073246"],"related_works":["https://openalex.org/W2963080995","https://openalex.org/W3134070994","https://openalex.org/W3106333735","https://openalex.org/W2790043118","https://openalex.org/W2738983499","https://openalex.org/W3094285507","https://openalex.org/W2752596383","https://openalex.org/W3191307263","https://openalex.org/W3038136181","https://openalex.org/W3089801158","https://openalex.org/W2767801795","https://openalex.org/W2912372166","https://openalex.org/W2914315460","https://openalex.org/W2183499408","https://openalex.org/W3188278405","https://openalex.org/W3157864992","https://openalex.org/W3207581717","https://openalex.org/W2972884405","https://openalex.org/W3037126605","https://openalex.org/W2969173984"],"abstract_inverted_index":{"Many":[0],"scenarios":[1],"require":[2],"a":[3,60,75,80,107,135,180],"robot":[4],"to":[5,8,49,90,97,120,166],"be":[6],"able":[7],"explore":[9],"its":[10,87],"3D":[11,61],"environment":[12],"online":[13],"without":[14],"human":[15],"supervision.":[16],"This":[17,57],"is":[18],"especially":[19],"relevant":[20],"for":[21],"inspection":[22],"tasks":[23],"and":[24,26,105,112,131,152,155],"search":[25],"rescue":[27],"missions.":[28],"To":[29],"solve":[30],"this":[31,73],"high-dimensional":[32],"path":[33,153],"planning":[34],"problem,":[35],"sampling-based":[36],"exploration":[37,62,137,145],"algorithms":[38],"have":[39],"proven":[40],"successful.":[41],"However,":[42],"these":[43],"do":[44],"not":[45],"necessarily":[46],"scale":[47],"well":[48],"larger":[50],"environments":[51],"or":[52],"spaces":[53],"with":[54,79,118],"narrow":[55],"openings.":[56],"paper":[58],"presents":[59],"planner":[63,103],"based":[64],"on":[65,179],"the":[66,115,173],"principles":[67],"of":[68,109,176],"Next-Best":[69],"Views":[70],"(NBVs).":[71],"In":[72,95],"approach,":[74],"Micro-Aerial":[76],"Vehicle":[77],"(MAV)equipped":[78],"limited":[81],"field-of-view":[82],"depth":[83],"sensor":[84],"randomly":[85],"samples":[86],"configuration":[88],"space":[89],"find":[91],"promising":[92],"future":[93],"viewpoints.":[94],"order":[96],"obtain":[98],"high":[99],"sampling":[100],"efficiency,":[101],"our":[102,125,177],"maintains":[104],"uses":[106],"history":[108],"visited":[110],"places,":[111],"locally":[113],"optimizes":[114],"robot's":[116],"orientation":[117],"respect":[119],"unobserved":[121],"space.":[122],"We":[123],"evaluate":[124],"method":[126],"in":[127,144,157],"several":[128],"simulated":[129],"scenarios,":[130],"compare":[132],"it":[133],"against":[134],"state-of-the-art":[136],"algorithm.":[138],"The":[139],"experiments":[140],"show":[141],"substantial":[142],"improvements":[143],"time":[146],"(2":[147],"\u2a2f":[148,168],"faster),":[149],"computation":[150],"time,":[151],"length,":[154],"advantages":[156],"handling":[158],"difficult":[159],"situations":[160],"such":[161],"as":[162],"escaping":[163],"dead-ends":[164],"(up":[165],"20":[167],"faster).":[169],"Finally,":[170],"we":[171],"validate":[172],"on-line":[174],"capability":[175],"algorithm":[178],"computational":[181],"constrained":[182],"real":[183],"world":[184],"MAV.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
