{"id":"https://openalex.org/W4200419813","doi":"https://doi.org/10.1109/iros51168.2021.9636603","title":"Efficient Computation of Map-scale Continuous Mutual Information on Chip in Real Time","display_name":"Efficient Computation of Map-scale Continuous Mutual Information on Chip in Real Time","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200419813","doi":"https://doi.org/10.1109/iros51168.2021.9636603"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636603","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2210.03623","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102005177","display_name":"K.Gurnadha Gupta","orcid":"https://orcid.org/0000-0001-9929-1132"},"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":true,"raw_author_name":"Keshav Gupta","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, Massachusetts"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, Massachusetts","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072075883","display_name":"Peter Zhi Xuan Li","orcid":"https://orcid.org/0000-0002-5260-4995"},"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":"Peter Zhi Xuan Li","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, Massachusetts"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, Massachusetts","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"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":"Sertac Karaman","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, Massachusetts"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, Massachusetts","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066351389","display_name":"Vivienne Sze","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":"Vivienne Sze","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, Massachusetts"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, Massachusetts","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102005177"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.2597,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.88303584,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"6464","last_page":"6470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.998199999332428,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9976000189781189,"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":0.7091054916381836},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6657713651657104},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.655377984046936},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.5099378824234009},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.4466267228126526},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3324573040008545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2630980610847473},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18432101607322693},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11504653096199036},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10688862204551697},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10552382469177246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7091054916381836},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6657713651657104},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.655377984046936},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.5099378824234009},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.4466267228126526},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3324573040008545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2630980610847473},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18432101607322693},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11504653096199036},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10688862204551697},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10552382469177246}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros51168.2021.9636603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636603","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:arXiv.org:2210.03623","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.03623","pdf_url":"https://arxiv.org/pdf/2210.03623","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/139155","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/139155","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","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2210.03623","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.03623","pdf_url":"https://arxiv.org/pdf/2210.03623","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1573725801","https://openalex.org/W1684737195","https://openalex.org/W1999050017","https://openalex.org/W2056554710","https://openalex.org/W2089437550","https://openalex.org/W2102430571","https://openalex.org/W2107667896","https://openalex.org/W2142924305","https://openalex.org/W2145729159","https://openalex.org/W2156670158","https://openalex.org/W2171330332","https://openalex.org/W2172103629","https://openalex.org/W2259959749","https://openalex.org/W2283534560","https://openalex.org/W2461937780","https://openalex.org/W2472568752","https://openalex.org/W2754957417","https://openalex.org/W2761446894","https://openalex.org/W2763736187","https://openalex.org/W2891677407","https://openalex.org/W2964635821","https://openalex.org/W2967194573","https://openalex.org/W3090869974","https://openalex.org/W3124420883","https://openalex.org/W6683083536","https://openalex.org/W6692881555","https://openalex.org/W6766539769"],"related_works":["https://openalex.org/W2466816617","https://openalex.org/W1970834875","https://openalex.org/W842936808","https://openalex.org/W3174028392","https://openalex.org/W2000517284","https://openalex.org/W2365318811","https://openalex.org/W2136503713","https://openalex.org/W2375330620","https://openalex.org/W2363755581","https://openalex.org/W1977605874"],"abstract_inverted_index":{"Exploration":[0],"tasks":[1],"are":[2,264],"essential":[3],"to":[4,14,66,125,135,146,249,269],"many":[5],"emerging":[6],"robotics":[7],"applications,":[8],"ranging":[9],"from":[10],"search":[11],"and":[12,58,61,81,91,116,140,143,149,205,235],"rescue":[13],"space":[15],"exploration.":[16,94],"The":[17,131,262],"planning":[18],"problem":[19],"for":[20,27,38,70,76,105,168,199],"exploration":[21],"requires":[22],"determining":[23],"the":[24,33,36,50,55,68,127,137,200,210,225],"best":[25],"locations":[26,69],"future":[28,59,71],"measurements":[29],"that":[30,108,121],"will":[31],"enhance":[32],"fidelity":[34],"of":[35,192,209,213,232,239,272],"map,":[37],"example,":[39],"by":[40],"reducing":[41],"its":[42],"total":[43],"entropy.":[44],"A":[45],"widely-studied":[46],"technique":[47],"involves":[48],"computing":[49,74],"Mutual":[51],"Information":[52],"(MI)":[53],"between":[54],"current":[56],"map":[57,181,202,245],"measurements,":[60],"utilizing":[62],"this":[63,96,154,219],"MI":[64,75,106,113,167,197,244],"metric":[65],"decide":[67],"measurements.":[72],"However,":[73],"reasonably-sized":[77],"maps":[78],"is":[79,229],"slow":[80],"power":[82],"hungry,":[83],"which":[84,164],"has":[85],"been":[86],"a":[87,100,110,158,179,207,250],"bottleneck":[88],"towards":[89],"fast":[90],"efficient":[92],"robotic":[93],"In":[95],"paper,":[97],"we":[98],"introduce":[99],"new":[101],"hardware":[102],"accelerator":[103],"architecture":[104,156],"computation":[107,198],"features":[109],"low-latency,":[111],"energy-efficient":[112],"compute":[114,166,215],"core":[115,132],"an":[117,172,256],"optimized":[118,155],"memory":[119],"subsystem":[120],"provides":[122],"sufficient":[123],"bandwidth":[124],"keep":[126],"cores":[128],"fully":[129],"utilized.":[130],"employs":[133],"interleaving":[134],"counter":[136],"recursive":[138],"algorithm,":[139],"workload":[141],"balancing":[142],"numerical":[144],"approximations":[145],"reduce":[147],"latency":[148],"energy":[150,211,242],"consumption.":[151],"We":[152],"demonstrate":[153],"with":[157],"Field-Programmable":[159],"Gate":[160],"Array":[161],"(FPGA)":[162],"implementation,":[163],"can":[165],"all":[169],"cells":[170],"in":[171,185],"entire":[173],"201-by-201":[174],"occupancy":[175],"grid":[176],"(e.g.,":[177],"representing":[178],"20.1m-by-20.1m":[180],"at":[182,206],"0.1m":[183],"resolution)":[184],"1.55":[186],"ms":[187],"while":[188],"consuming":[189],"1.7":[190],"mJ":[191],"energy,":[193],"thus":[194],"finally":[195],"rendering":[196],"whole":[201],"real":[203],"time":[204],"fraction":[208],"cost":[212],"traditional":[214],"platforms.":[216],"For":[217],"comparison,":[218],"particular":[220],"FPGA":[221],"implementation":[222,253],"running":[223,254],"on":[224,255],"Xilinx":[226],"Zynq-7000":[227],"platform":[228],"two":[230],"orders":[231,238],"magnitude":[233,240],"faster":[234],"consumes":[236],"three":[237],"less":[241],"per":[243],"compute,":[246],"when":[247,267],"compared":[248,268],"baseline":[251],"GPU":[252],"NVIDIA":[257],"GeForce":[258],"GTX":[259],"980":[260],"platform.":[261],"improvements":[263],"more":[265],"pronounced":[266],"CPU":[270],"implementations":[271],"equivalent":[273],"algorithms.":[274]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
