{"id":"https://openalex.org/W3004312138","doi":"https://doi.org/10.1109/iros40897.2019.8968563","title":"Efficient Environment Guided Approach for Exploration of Complex Environments","display_name":"Efficient Environment Guided Approach for Exploration of Complex Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004312138","doi":"https://doi.org/10.1109/iros40897.2019.8968563","mag":"3004312138"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968563","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":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/10092644/8/Butters_main.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020486859","display_name":"Daniel Butters","orcid":"https://orcid.org/0000-0002-9463-1238"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel Butters","raw_affiliation_strings":["University College London, Gower Street,Autonomous Manufacturing Laboratory,UK,WC1E 6BT","Autonomous Manufacturing Laboratory, University College London, Gower Street, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London, Gower Street,Autonomous Manufacturing Laboratory,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Autonomous Manufacturing Laboratory, University College London, Gower Street, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045613695","display_name":"Emil T. Jonasson","orcid":"https://orcid.org/0000-0002-2009-3596"},"institutions":[{"id":"https://openalex.org/I4210094962","display_name":"Culham Science Centre","ror":"https://ror.org/00mdktv23","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210094962"]},{"id":"https://openalex.org/I47367911","display_name":"United Kingdom Atomic Energy Authority","ror":"https://ror.org/0361bwx64","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802373619","https://openalex.org/I4405259123","https://openalex.org/I47367911"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Emil T. Jonasson","raw_affiliation_strings":["Remote Applications in Challenging Environments (RACE), UK Atomic Energy Authority, Culham Science Centre,Abingdon,UK,OX14 3BD","Remote Applications in Challenging Environments (RACE), UK Atomic Energy Authority, Culham Science Centre, Abingdon, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Remote Applications in Challenging Environments (RACE), UK Atomic Energy Authority, Culham Science Centre,Abingdon,UK,OX14 3BD","institution_ids":["https://openalex.org/I47367911"]},{"raw_affiliation_string":"Remote Applications in Challenging Environments (RACE), UK Atomic Energy Authority, Culham Science Centre, Abingdon, UK","institution_ids":["https://openalex.org/I4210094962","https://openalex.org/I47367911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088309600","display_name":"Robert Stuart\u2010Smith","orcid":"https://orcid.org/0000-0003-3644-3906"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Robert Stuart-Smith","raw_affiliation_strings":["University College London, Gower Street,Autonomous Manufacturing Laboratory,UK,WC1E 6BT","Autonomous Manufacturing Laboratory, University College London, Gower Street, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London, Gower Street,Autonomous Manufacturing Laboratory,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Autonomous Manufacturing Laboratory, University College London, Gower Street, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001633880","display_name":"Vijay Pawar","orcid":"https://orcid.org/0000-0003-1963-5201"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vijay M. Pawar","raw_affiliation_strings":["University College London, Gower Street,Autonomous Manufacturing Laboratory,UK,WC1E 6BT","Autonomous Manufacturing Laboratory, University College London, Gower Street, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College London, Gower Street,Autonomous Manufacturing Laboratory,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Autonomous Manufacturing Laboratory, University College London, Gower Street, UK","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.15028627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"929","last_page":"934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9977999925613403,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/workspace","display_name":"Workspace","score":0.8232601881027222},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7688753604888916},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7338786125183105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.640903890132904},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.46139025688171387},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4562056064605713},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4413289725780487},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42633256316185},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4202047884464264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4101022779941559},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38216283917427063},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3648049831390381},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3216426968574524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12366428971290588},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.089537113904953}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8232601881027222},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7688753604888916},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7338786125183105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.640903890132904},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.46139025688171387},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4562056064605713},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4413289725780487},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42633256316185},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4202047884464264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4101022779941559},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38216283917427063},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3648049831390381},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3216426968574524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12366428971290588},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.089537113904953},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968563","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:eprints.ucl.ac.uk.OAI2:10092644","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10092644/","pdf_url":"https://discovery.ucl.ac.uk/10092644/8/Butters_main.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 929-934). IEEE: Macau, China. (2020)","raw_type":"Proceedings paper"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10092644","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10092644/","pdf_url":"https://discovery.ucl.ac.uk/10092644/8/Butters_main.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 929-934). IEEE: Macau, China. (2020)","raw_type":"Proceedings paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1217803996","display_name":null,"funder_award_id":"EP/R005338/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4287104894","display_name":null,"funder_award_id":"EP/P012450/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7077141279","display_name":null,"funder_award_id":"EP/T012250/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8347234532","display_name":null,"funder_award_id":"EP/N018494/1","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":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004312138.pdf","grobid_xml":"https://content.openalex.org/works/W3004312138.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1664052478","https://openalex.org/W1970218068","https://openalex.org/W2003966310","https://openalex.org/W2017919391","https://openalex.org/W2061061274","https://openalex.org/W2064171812","https://openalex.org/W2107667896","https://openalex.org/W2113775403","https://openalex.org/W2133844819","https://openalex.org/W2167340365","https://openalex.org/W2171960444","https://openalex.org/W2527142681","https://openalex.org/W2736958649","https://openalex.org/W2782762125","https://openalex.org/W2804651418","https://openalex.org/W2914585051"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2967461658"],"abstract_inverted_index":{"Remote":[0],"inspection":[1],"of":[2,51,72,89,108,149],"a":[3,7,57,76],"complex":[4,54],"environment":[5,55,131],"is":[6,75],"difficult,":[8],"time":[9,29],"consuming":[10],"task":[11],"for":[12,49],"human":[13],"operators":[14],"to":[15,19,39,79,92,97],"perform.":[16],"The":[17,69],"need":[18],"manually":[20],"avoid":[21],"obstacles":[22],"whilst":[23],"considering":[24],"other":[25],"performance":[26,136],"factors":[27],"i.e.":[28],"taken,":[30],"joint":[31,104],"effort":[32],"and":[33,146],"information":[34],"gained":[35],"represents":[36],"significant":[37],"challenges":[38],"continuous":[40],"operation.":[41],"This":[42],"paper":[43],"proposes":[44],"an":[45,52,63,129],"autonomous":[46],"robotic":[47],"solution":[48],"exploration":[50],"unknown,":[53],"using":[56],"high":[58],"DoF":[59],"robot":[60],"arm":[61],"with":[62],"eye":[64],"in":[65,95],"hand":[66],"depth":[67],"sensor.":[68],"main":[70],"contribution":[71],"this":[73],"work":[74],"new":[77],"strategy":[78],"find":[80],"the":[81,90,109,124,140,147,150],"next":[82],"best":[83],"view":[84],"by":[85],"evaluating":[86],"frontier":[87],"regions":[88],"map":[91],"maximise":[93],"coverage,":[94],"contrast":[96],"many":[98],"current":[99],"approaches":[100],"which":[101],"densely":[102],"sample":[103],"or":[105],"workspace":[106],"configurations":[107],"robot.":[110],"Multiple":[111],"utility":[112,141],"functions":[113],"were":[114],"evaluated":[115],"that":[116,123],"showed":[117],"different":[118],"behaviours.":[119],"Our":[120],"results":[121],"indicated":[122],"presented":[125],"algorithm":[126],"can":[127],"explore":[128],"arbitrary":[130],"efficiently":[132],"while":[133],"optimising":[134],"various":[135],"criteria":[137],"based":[138],"on":[139],"function":[142],"chosen,":[143],"application":[144],"constraints":[145],"desires":[148],"user.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
