{"id":"https://openalex.org/W2969975192","doi":"https://doi.org/10.1109/iros40897.2019.8967550","title":"Planning Beyond The Sensing Horizon Using a Learned Context","display_name":"Planning Beyond The Sensing Horizon Using a Learned Context","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2969975192","doi":"https://doi.org/10.1109/iros40897.2019.8967550","mag":"2969975192"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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":"https://arxiv.org/pdf/1908.09171","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064513857","display_name":"Michael Everett","orcid":"https://orcid.org/0000-0001-9377-6745"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Everett","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078959080","display_name":"Justin Miller","orcid":"https://orcid.org/0000-0002-0562-5224"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Miller","raw_affiliation_strings":["Robotics and Intelligent Vehicles, Ford Motor Company, Dearborn, MI,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Vehicles, Ford Motor Company, Dearborn, MI,USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA,USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1064","last_page":"1071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973000288009644,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.7584527730941772},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6875408887863159},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6513663530349731},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5872093439102173},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.549988329410553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5424521565437317},{"id":"https://openalex.org/keywords/spatial-contextual-awareness","display_name":"Spatial contextual awareness","score":0.4298769235610962},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4139740467071533},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.41343045234680176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41206175088882446},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4101664423942566},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3357963263988495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13328316807746887}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7584527730941772},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6875408887863159},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6513663530349731},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5872093439102173},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.549988329410553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5424521565437317},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.4298769235610962},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4139740467071533},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.41343045234680176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41206175088882446},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4101664423942566},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3357963263988495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13328316807746887},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8967550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.09171","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.09171","pdf_url":"https://arxiv.org/pdf/1908.09171","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":"","raw_type":"text"},{"id":"mag:2969975192","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1908.09171","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:dspace.mit.edu:1721.1/137156","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137156","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"doi:10.48550/arxiv.1908.09171","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.09171","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.09171","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.09171","pdf_url":"https://arxiv.org/pdf/1908.09171","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":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2969975192.pdf","grobid_xml":"https://content.openalex.org/works/W2969975192.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1684737195","https://openalex.org/W1901129140","https://openalex.org/W1966213627","https://openalex.org/W1993992338","https://openalex.org/W1997295310","https://openalex.org/W2020426055","https://openalex.org/W2056904140","https://openalex.org/W2078504439","https://openalex.org/W2108712229","https://openalex.org/W2144213223","https://openalex.org/W2149280200","https://openalex.org/W2169528473","https://openalex.org/W2294589862","https://openalex.org/W2585954273","https://openalex.org/W2593841437","https://openalex.org/W2601614959","https://openalex.org/W2615547864","https://openalex.org/W2734976864","https://openalex.org/W2737856893","https://openalex.org/W2774005037","https://openalex.org/W2806070179","https://openalex.org/W2807457702","https://openalex.org/W2903362800","https://openalex.org/W2951660448","https://openalex.org/W2962684798","https://openalex.org/W2962887844","https://openalex.org/W2963073614","https://openalex.org/W2963088756","https://openalex.org/W2963373786","https://openalex.org/W2963375846","https://openalex.org/W2963447367","https://openalex.org/W2963451844","https://openalex.org/W3104062571","https://openalex.org/W6639824700","https://openalex.org/W6681498690","https://openalex.org/W6718379498","https://openalex.org/W6735463952","https://openalex.org/W6740990346","https://openalex.org/W6746518932","https://openalex.org/W6747912417","https://openalex.org/W6756644968"],"related_works":["https://openalex.org/W3004352543","https://openalex.org/W2886996772","https://openalex.org/W2542979931","https://openalex.org/W3175064331","https://openalex.org/W3026388681","https://openalex.org/W3194521805","https://openalex.org/W2766765925","https://openalex.org/W3129641903","https://openalex.org/W3195841113","https://openalex.org/W3087390404","https://openalex.org/W3045177913","https://openalex.org/W3158240327","https://openalex.org/W3158708228","https://openalex.org/W2296453913","https://openalex.org/W2737874330","https://openalex.org/W2743166943","https://openalex.org/W1983367999","https://openalex.org/W2890551212","https://openalex.org/W2784293065","https://openalex.org/W1956375534"],"abstract_inverted_index":{"Last-mile":[0],"delivery":[1,51],"systems":[2],"commonly":[3],"propose":[4],"the":[5,27,50,65,70,151,174,195],"use":[6,28,78],"of":[7,19,29,118,153,160,194,221],"autonomous":[8],"robotic":[9],"vehicles":[10],"to":[11,48,75,131,180],"increase":[12],"scalability":[13],"and":[14,191],"efficiency.":[15],"The":[16,147,203],"economic":[17],"inefficiency":[18],"collecting":[20],"accurate":[21],"prior":[22,201],"maps":[23],"for":[24,77,121],"navigation":[25],"motivates":[26],"planning":[30,81,122],"algorithms":[31,39],"that":[32,45,60,141],"operate":[33],"in":[34,79,95,216],"unmapped":[35],"environments.":[36],"However,":[37],"these":[38],"typically":[40],"waste":[41],"time":[42],"exploring":[43],"regions":[44],"are":[46],"unlikely":[47],"contain":[49],"destination.":[52],"Context":[53],"is":[54,73,129,206],"key":[55],"information":[56],"about":[57],"structured":[58],"environments":[59,97],"could":[61],"guide":[62],"exploration":[63],"toward":[64],"unknown":[66],"goal":[67,183],"location,":[68],"but":[69,91],"abstract":[71],"idea":[72],"difficult":[74],"quantify":[76],"a":[80,115,139,156,162,178,188,200,210,213,217],"algorithm.":[82],"Some":[83],"approaches":[84,103],"specifically":[85],"consider":[86,104],"contextual":[87],"relationships":[88],"between":[89],"objects,":[90],"would":[92],"perform":[93],"poorly":[94],"object-sparse":[96],"like":[98],"outdoors.":[99],"Recent":[100],"deep":[101],"learning-based":[102],"context":[105,120,134],"too":[106],"generally,":[107],"making":[108],"training/transferability":[109],"difficult.":[110],"Therefore,":[111],"this":[112],"work":[113],"proposes":[114],"novel":[116],"formulation":[117],"utilizing":[119],"as":[123],"an":[124,142],"image-to-image":[125],"translation":[126],"problem,":[127],"which":[128],"shown":[130],"extract":[132],"terrain":[133],"from":[135,171],"semantic":[136],"gridmaps,":[137],"into":[138],"metric":[140],"exploration-based":[143],"planner":[144],"can":[145],"use.":[146],"proposed":[148,204],"framework":[149],"has":[150],"benefit":[152],"training":[154],"on":[155,209],"static":[157],"dataset":[158],"instead":[159],"requiring":[161],"time-consuming":[163],"simulator.":[164],"Across":[165],"42":[166],"test":[167],"houses":[168],"with":[169,187,199,212],"layouts":[170],"satellite":[172],"images,":[173],"trained":[175],"algorithm":[176,205],"enables":[177],"robot":[179],"reach":[181],"its":[182],"189%":[184],"faster":[185],"than":[186],"context-unaware":[189],"planner,":[190],"within":[192],"63%":[193],"optimal":[196],"path":[197],"computed":[198],"map.":[202],"also":[207],"implemented":[208],"vehicle":[211],"forward-facing":[214],"camera":[215],"high-fidelity,":[218],"Unreal":[219],"simulation":[220],"neighborhood":[222],"houses.":[223]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}