{"id":"https://openalex.org/W4312635308","doi":"https://doi.org/10.1109/iros47612.2022.9981263","title":"Autoexplorer: Autonomous Exploration of Unknown Environments using Fast Frontier-Region Detection and Parallel Path Planning","display_name":"Autoexplorer: Autonomous Exploration of Unknown Environments using Fast Frontier-Region Detection and Parallel Path Planning","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312635308","doi":"https://doi.org/10.1109/iros47612.2022.9981263"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981263","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5101667143","display_name":"Kyung Min Han","orcid":"https://orcid.org/0000-0003-2755-5981"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kyung Min Han","raw_affiliation_strings":["Ewha womans university in Korea,department of computer science and engineering","department of computer science and engineering, Ewha womans university in Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ewha womans university in Korea,department of computer science and engineering","institution_ids":["https://openalex.org/I138925566"]},{"raw_affiliation_string":"department of computer science and engineering, Ewha womans university in Korea","institution_ids":["https://openalex.org/I138925566"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100387388","display_name":"Young J. Kim","orcid":"https://orcid.org/0000-0003-2159-4832"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young J. Kim","raw_affiliation_strings":["Ewha womans university in Korea,department of computer science and engineering","department of computer science and engineering, Ewha womans university in Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ewha womans university in Korea,department of computer science and engineering","institution_ids":["https://openalex.org/I138925566"]},{"raw_affiliation_string":"department of computer science and engineering, Ewha womans university in Korea","institution_ids":["https://openalex.org/I138925566"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101667143"],"corresponding_institution_ids":["https://openalex.org/I138925566"],"apc_list":null,"apc_paid":null,"fwci":0.5962,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.77122374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10536","last_page":"10541"},"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/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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.729620635509491},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6420215964317322},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5685297250747681},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5096437931060791},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.5020444393157959},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4319066107273102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3592342138290405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3592122197151184},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3568762242794037},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.24884015321731567}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.729620635509491},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6420215964317322},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5685297250747681},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5096437931060791},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.5020444393157959},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4319066107273102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3592342138290405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3592122197151184},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3568762242794037},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.24884015321731567},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981263","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1980534755","https://openalex.org/W1997568160","https://openalex.org/W1997714199","https://openalex.org/W1999244633","https://openalex.org/W2021096542","https://openalex.org/W2070923961","https://openalex.org/W2107667896","https://openalex.org/W2117211893","https://openalex.org/W2130422193","https://openalex.org/W2142924305","https://openalex.org/W2169781427","https://openalex.org/W2278072014","https://openalex.org/W2411093439","https://openalex.org/W2771728020","https://openalex.org/W2916679149","https://openalex.org/W2920151874","https://openalex.org/W3099362956","https://openalex.org/W6695036305","https://openalex.org/W6760505085"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"We":[0,119],"propose":[1],"a":[2,16,164,187,219,226],"fully":[3,231],"autonomous":[4,198,215],"system":[5,14,183,217],"for":[6],"mobile":[7,61,221],"robot":[8,199,223],"exploration":[9,182,200],"in":[10,45,86,201],"unknown":[11],"environments.":[12],"Our":[13,72,190],"employs":[15],"novel":[17,130],"frontier":[18,56,83,90,117],"detection":[19,84,95,110],"algorithm":[20,51,85,169],"based":[21],"on":[22,171,186],"the":[23,36,55,69,80,94,105,109,115,125,129,137,142,146,160,180,208],"fast":[24],"front":[25,38],"propagation":[26],"(FFP)":[27],"technique":[28],"and":[29,128,204,235],"uses":[30],"parallel":[31,161,167,236],"path":[32],"planning":[33,139],"to":[34,63,67],"reach":[35],"detected":[37],"regions.":[39],"Given":[40],"an":[41,214],"occupancy":[42],"grid":[43],"map":[44,106],"2D,":[46],"possibly":[47],"updated":[48],"online,":[49],"our":[50,166,233],"can":[52,59,99],"find":[53],"all":[54],"points":[57,91,123],"that":[58,184,213,230],"allow":[60],"robots":[62],"visit":[64],"unexplored":[65],"regions":[66],"maximize":[68],"exploratory":[70],"coverage.":[71],"FFP":[73,234],"method":[74,191],"is":[75,152,174,192],"six~seven":[76],"times":[77,177],"faster":[78,178],"than":[79,179],"state-of-the-art":[81],"wavefront":[82],"terms":[87],"of":[88,149],"finding":[89],"without":[92,107],"compromising":[93],"accuracy.":[96,111],"The":[97],"speedup":[98],"be":[100],"further":[101],"accelerated":[102],"by":[103,124,154],"simplifying":[104],"degrading":[108],"To":[112],"expedite":[113],"locating":[114],"optimal":[116],"point,":[118],"also":[120],"eliminate":[121],"spurious":[122],"obstacle":[126],"filter":[127],"boundary":[131],"filter.":[132],"In":[133,207],"addition,":[134],"we":[135,211],"parallelize":[136],"global":[138],"phase":[140],"using":[141,218],"branch-and-bound":[143],"A*,":[144],"where":[145],"search":[147],"space":[148],"each":[150],"thread":[151],"confined":[153],"its":[155],"best":[156],"knowledge":[157],"discovered":[158],"during":[159],"search.":[162],"As":[163],"result,":[165],"path-planning":[168,237],"operating":[170],"20":[172],"threads":[173],"about":[175],"30":[176],"vanilla":[181],"operates":[185],"single":[188],"thread.":[189],"validated":[193],"through":[194],"extensive":[195],"experiments,":[196],"including":[197],"both":[202],"synthetic":[203],"real-world":[205,209],"scenarios.":[206],"experiment,":[210],"show":[212],"navigation":[216],"human-sized":[220],"manipulator":[222],"equipped":[224],"with":[225],"low-end":[227],"embedded":[228],"processor":[229],"integrates":[232],"algorithms.":[238]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}