{"id":"https://openalex.org/W3003718768","doi":"https://doi.org/10.1109/iros40897.2019.8968151","title":"Graph-based Path Planning for Autonomous Robotic Exploration in Subterranean Environments","display_name":"Graph-based Path Planning for Autonomous Robotic Exploration in Subterranean Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003718768","doi":"https://doi.org/10.1109/iros40897.2019.8968151","mag":"3003718768"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968151","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":["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/A5102979199","display_name":"Tung Dang","orcid":"https://orcid.org/0000-0002-1629-0650"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tung Dang","raw_affiliation_strings":["University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077137296","display_name":"Frank Mascarich","orcid":"https://orcid.org/0000-0003-1164-8673"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Mascarich","raw_affiliation_strings":["University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076595826","display_name":"Shehryar Khattak","orcid":"https://orcid.org/0000-0002-9304-1455"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shehryar Khattak","raw_affiliation_strings":["University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072641170","display_name":"Christos Papachristos","orcid":"https://orcid.org/0000-0001-6452-6405"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christos Papachristos","raw_affiliation_strings":["University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno 1664 N. Virginia 89557,Autonomous Robots Lab,Reno,NV,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Autonomous Robots Lab, University of Nevada, Reno 1664 N. Virginia 89557, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134113660"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":167,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3105","last_page":"3112"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9930999875068665,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/planner","display_name":"Planner","score":0.9394620060920715},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7329837679862976},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6304014325141907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5782119035720825},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5741928815841675},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.5732935070991516},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5301638245582581},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4306093454360962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41198158264160156},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32431524991989136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2809649705886841},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.20788148045539856},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16806074976921082},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0774301290512085}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.9394620060920715},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7329837679862976},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6304014325141907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5782119035720825},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5741928815841675},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.5732935070991516},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5301638245582581},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4306093454360962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41198158264160156},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32431524991989136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2809649705886841},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.20788148045539856},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16806074976921082},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0774301290512085}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968151","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1607046631","https://openalex.org/W1925307928","https://openalex.org/W1971458750","https://openalex.org/W1975492090","https://openalex.org/W1983758950","https://openalex.org/W2060794637","https://openalex.org/W2068861396","https://openalex.org/W2076244702","https://openalex.org/W2083327122","https://openalex.org/W2096268286","https://openalex.org/W2098573805","https://openalex.org/W2102370830","https://openalex.org/W2104241562","https://openalex.org/W2104969271","https://openalex.org/W2105301171","https://openalex.org/W2107667896","https://openalex.org/W2133844819","https://openalex.org/W2156037610","https://openalex.org/W2183960582","https://openalex.org/W2258140566","https://openalex.org/W2298275666","https://openalex.org/W2402719632","https://openalex.org/W2409009991","https://openalex.org/W2465948386","https://openalex.org/W2482392012","https://openalex.org/W2482852384","https://openalex.org/W2506989912","https://openalex.org/W2571268510","https://openalex.org/W2607968634","https://openalex.org/W2737130609","https://openalex.org/W2739036405","https://openalex.org/W2811042418","https://openalex.org/W2879404536","https://openalex.org/W2889942734","https://openalex.org/W2891766795","https://openalex.org/W2899761469","https://openalex.org/W2919409595","https://openalex.org/W2952599778","https://openalex.org/W2963338060","https://openalex.org/W3102129812","https://openalex.org/W3106302529","https://openalex.org/W3147363384","https://openalex.org/W4246219036","https://openalex.org/W4255885994","https://openalex.org/W6640371294","https://openalex.org/W6752727809","https://openalex.org/W6756268698","https://openalex.org/W6766318852"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W3011816857","https://openalex.org/W2155467318","https://openalex.org/W3212692130","https://openalex.org/W2171066421","https://openalex.org/W1967495730","https://openalex.org/W2128280661","https://openalex.org/W2046356179","https://openalex.org/W2149431603","https://openalex.org/W2903765850"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,42,51,68,85,88,97,124],"novel":[4],"strategy":[5],"for":[6,72],"autonomous":[7],"graph-based":[8],"exploration":[9,65,115],"path":[10,99],"planning":[11],"in":[12,123,135,139],"subterranean":[13,20],"environments.":[14],"Attuned":[15],"to":[16,55],"the":[17,36,73,78,81,91,105,114,136],"fact":[18],"that":[19,62,80],"settings,":[21],"such":[22],"as":[23],"underground":[24,133],"mines,":[25],"are":[26],"often":[27],"large-scale":[28],"networks":[29],"of":[30,113,126],"narrow":[31],"tunnel-like":[32],"and":[33,57,77,131,138],"multi-branched":[34],"topologies,":[35],"proposed":[37,118],"planner":[38,49,83,93,119],"is":[39,94,120],"structured":[40],"around":[41],"bifurcated":[43],"local-and":[44],"global-planner":[45],"architecture.":[46],"The":[47,117],"local":[48,69,82],"employs":[50],"rapidly-exploring":[52],"random":[53],"graph":[54],"reliably":[56],"efficiently":[58],"identify":[59],"collision-free":[60],"paths":[61],"optimize":[63],"an":[64,111],"gain":[66],"within":[67],"subspace.":[70],"Accounting":[71],"robot":[74,106],"endurance":[75],"limitations":[76],"possibility":[79],"reaches":[84],"dead-end":[86],"(e.g.":[87],"mine":[89],"heading),":[90],"global":[92],"engaged":[95],"when":[96,104],"return-to-home":[98],"must":[100],"be":[101,108],"derived":[102],"or":[103],"should":[107],"re-positioned":[109],"towards":[110],"edge":[112],"space.":[116],"field":[121],"evaluated":[122],"collection":[125],"deployments":[127],"inside":[128],"both":[129],"active":[130],"abandoned":[132],"mines":[134],"U.S.":[137],"Switzerland.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":47},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
