{"id":"https://openalex.org/W4200061842","doi":"https://doi.org/10.1109/iros51168.2021.9636565","title":"Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation","display_name":"Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200061842","doi":"https://doi.org/10.1109/iros51168.2021.9636565"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636565","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/145525","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050465277","display_name":"Martina Stadler","orcid":null},"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":"Martina Stadler","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091371230","display_name":"Katherine Liu","orcid":"https://orcid.org/0000-0002-9616-9403"},"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":"Katherine Liu","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004980809","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-4277-2928"},"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":"Nicholas Roy","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0656,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33839542,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"5568","last_page":"5575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.767459511756897},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7351571321487427},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6125113368034363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6066238284111023},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5396572947502136},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4675881564617157},{"id":"https://openalex.org/keywords/hierarchical-database-model","display_name":"Hierarchical database model","score":0.4502677917480469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4483658969402313},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4398307800292969},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4274293780326843},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4264872074127197},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3126373887062073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09589749574661255}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.767459511756897},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7351571321487427},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6125113368034363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6066238284111023},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5396572947502136},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4675881564617157},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.4502677917480469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4483658969402313},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4398307800292969},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4274293780326843},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4264872074127197},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3126373887062073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09589749574661255},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636565","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636565","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/145525","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145525","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":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/145525","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145525","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":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6100000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W73627945","https://openalex.org/W131069610","https://openalex.org/W135651235","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1971458750","https://openalex.org/W2042872950","https://openalex.org/W2052258220","https://openalex.org/W2101829756","https://openalex.org/W2109212155","https://openalex.org/W2112984789","https://openalex.org/W2126888775","https://openalex.org/W2128990851","https://openalex.org/W2401467858","https://openalex.org/W2572919868","https://openalex.org/W2807035426","https://openalex.org/W2808970843","https://openalex.org/W2950546634","https://openalex.org/W2963439114","https://openalex.org/W2967782694","https://openalex.org/W2979170133","https://openalex.org/W3004352543","https://openalex.org/W3022683862","https://openalex.org/W3089819400","https://openalex.org/W3101175487","https://openalex.org/W4210937062","https://openalex.org/W6603016052","https://openalex.org/W6605295560","https://openalex.org/W6605583594","https://openalex.org/W6731951519","https://openalex.org/W6776694869"],"related_works":["https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W2383111961","https://openalex.org/W804484174","https://openalex.org/W56933075","https://openalex.org/W2365952365","https://openalex.org/W2352448290","https://openalex.org/W1548568597","https://openalex.org/W2366039691"],"abstract_inverted_index":{"We":[0,107,128],"would":[1],"like":[2],"to":[3,7,20,25,36,50,73,142,161],"enable":[4],"a":[5,33,84,153,162],"robot":[6,105],"navigate":[8],"efficiently":[9],"and":[10,99,134,139,152],"robustly":[11],"in":[12,40,96,132,146,156],"known,":[13],"structured":[14],"environments":[15,42],"that":[16,169],"are":[17,32,170],"large":[18],"enough":[19],"cause":[21],"traditional":[22],"planning":[23,38,61,68,86,110,137],"approaches":[24],"incur":[26],"considerable":[27],"computational":[28],"cost.":[29],"Hierarchical":[30],"planners":[31],"promising":[34],"way":[35],"increase":[37],"efficiency":[39],"such":[41],"because":[43],"high-level":[44,65,85,116],"abstract":[45],"plans":[46,94,168],"can":[47,70,89],"be":[48,71,90],"used":[49,100],"reduce":[51],"the":[52,55,97,147],"size":[53],"of":[54,67,115,149],"search":[56],"space":[57],"over":[58,123],"which":[59,88],"detailed":[60],"occurs.":[62],"However,":[63],"useful":[64],"representations":[66],"problems":[69],"challenging":[72],"generate":[74],"without":[75],"prior":[76],"domain":[77],"knowledge.":[78],"In":[79],"this":[80],"work,":[81],"we":[82],"propose":[83],"representation":[87],"learned":[91],"from":[92],"previous":[93,109],"considered":[95],"environment":[98],"online":[101],"during":[102],"hierarchical,":[103],"multi-query":[104],"navigation.":[106],"treat":[108],"results":[111],"as":[112,159],"noisy":[113],"measurements":[114],"navigation":[117],"properties,":[118],"then":[119],"update":[120],"these":[121],"properties":[122],"time":[124,158],"using":[125],"recursive":[126],"estimation.":[127],"test":[129],"our":[130],"approach":[131],"standard":[133],"risk-aware":[135],"hierarchical":[136],"schemes,":[138],"demonstrate":[140],"up":[141],"an":[143],"86%":[144],"decrease":[145,155],"number":[148],"nodes":[150],"expanded":[151],"66%":[154],"wallclock":[157],"compared":[160],"baseline":[163],"A*":[164],"planner":[165],"while":[166],"finding":[167],"only":[171],"2-10%":[172],"more":[173],"expensive.":[174]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
