{"id":"https://openalex.org/W4312741609","doi":"https://doi.org/10.1109/iros47612.2022.9981992","title":"TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning","display_name":"TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312741609","doi":"https://doi.org/10.1109/iros47612.2022.9981992"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981992","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":"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/A5066125500","display_name":"Brady Moon","orcid":"https://orcid.org/0000-0003-4297-3938"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brady Moon","raw_affiliation_strings":["Robotics Institute, School of Computer Science at Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science at Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102897547","display_name":"Satrajit Chatterjee","orcid":"https://orcid.org/0000-0001-8135-8378"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satrajit Chatterjee","raw_affiliation_strings":["Robotics Institute, School of Computer Science at Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science at Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, School of Computer Science at Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science at Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.7567,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.90456262,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5760","last_page":"5766"},"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9781000018119812,"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/motion-planning","display_name":"Motion planning","score":0.7607513666152954},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7303104996681213},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6821324229240417},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6378568410873413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6321069598197937},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5579184293746948},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.501091718673706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48591962456703186},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.46953973174095154},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4582042694091797},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36551153659820557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3462992310523987},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3225935101509094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.23604801297187805}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7607513666152954},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7303104996681213},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6821324229240417},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6378568410873413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6321069598197937},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5579184293746948},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.501091718673706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48591962456703186},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.46953973174095154},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4582042694091797},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36551153659820557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3462992310523987},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3225935101509094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.23604801297187805},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981992","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":[{"id":"https://openalex.org/G3215946901","display_name":null,"funder_award_id":"DGE1745016","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5890486123","display_name":null,"funder_award_id":"N00014-21-1-2110","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1777783943","https://openalex.org/W1995813020","https://openalex.org/W2018275663","https://openalex.org/W2018502086","https://openalex.org/W2032239956","https://openalex.org/W2042106485","https://openalex.org/W2053460888","https://openalex.org/W2066291790","https://openalex.org/W2073110021","https://openalex.org/W2110762409","https://openalex.org/W2125069195","https://openalex.org/W2143088799","https://openalex.org/W2273896863","https://openalex.org/W2469067141","https://openalex.org/W2507368204","https://openalex.org/W2737130609","https://openalex.org/W2891757954","https://openalex.org/W2906764419","https://openalex.org/W2973864946","https://openalex.org/W3100948105","https://openalex.org/W3130356613","https://openalex.org/W3192019894","https://openalex.org/W3207462752"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"Informative":[0],"path":[1,43,102,110,179],"planning":[2,44,180],"is":[3,34,74],"an":[4,121],"important":[5],"and":[6,24,48,69,85,154,176,192],"challenging":[7],"problem":[8],"in":[9,16,45,80,92,132],"robotics":[10],"that":[11,19,39,60,103,182],"remains":[12],"to":[13,63,149,162],"be":[14,184],"solved":[15],"a":[17,57,100,133,138,142,150,174],"manner":[18],"allows":[20,61],"for":[21,31,41,107,120,127,186],"wide-spread":[22],"implementation":[23,119],"real-world":[25],"practical":[26,175],"adoption.":[27],"Among":[28],"various":[29],"reasons":[30],"this,":[32],"one":[33],"the":[35,65,81,93,108,115,165],"lack":[36],"of":[37,67,117,125,130],"approaches":[38],"allow":[40,159],"informative":[42,178],"high-dimensional":[46,70,82,204],"spaces":[47],"non-trivial":[49],"sensor":[50],"constraints.":[51,112],"In":[52],"this":[53,170],"work":[54],"we":[55,171],"present":[56,173],"sampling-based":[58,151],"approach":[59,148,161],"us":[62],"tackle":[64],"challenges":[66],"large":[68,134,188],"search":[71,135,195],"spaces.":[72,206],"This":[73,96],"done":[75],"by":[76,167],"performing":[77],"informed":[78],"sampling":[79],"continuous":[83],"space":[84,136],"incorporating":[86],"potential":[87],"information":[88,105],"gain":[89,106],"along":[90],"edges":[91],"reward":[94],"estimation.":[95],"method":[97],"rapidly":[98],"generates":[99],"global":[101],"maximizes":[104],"given":[109],"budget":[111],"We":[113,145],"discuss":[114],"details":[116],"our":[118,147,157,160],"example":[122],"use":[123],"case":[124],"searching":[126],"multiple":[128],"objects":[129],"interest":[131],"using":[137],"fixed-wing":[139],"UAV":[140],"with":[141,200],"forward-facing":[143],"camera.":[144],"compare":[146],"planner":[152],"baseline":[153,166],"demonstrate":[155],"how":[156],"contributions":[158],"consistently":[163],"out-perform":[164],"18.0%.":[168],"With":[169],"thus":[172],"generalizable":[177],"framework":[181],"can":[183],"used":[185],"very":[187],"environments,":[189],"limited":[190],"budgets,":[191],"high":[193],"dimensional":[194],"spaces,":[196],"such":[197],"as":[198],"robots":[199],"motion":[201],"constraints":[202],"or":[203],"configuration":[205],"[Code]aaCodebase:":[207],"https://github.com/castacks/tigris":[208],"[Video]bbVideo:":[209],"https://youtu.be/bMw5nUGL5GQ":[210]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2023-01-05T00:00:00"}
