{"id":"https://openalex.org/W4389667206","doi":"https://doi.org/10.1109/iros55552.2023.10341809","title":"Viewpoint Push Planning for Mapping of Unknown Confined Spaces","display_name":"Viewpoint Push Planning for Mapping of Unknown Confined Spaces","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667206","doi":"https://doi.org/10.1109/iros55552.2023.10341809"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5065181173","display_name":"Nils Dengler","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Nils Dengler","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079893673","display_name":"Sicong Pan","orcid":"https://orcid.org/0000-0003-1994-4266"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sicong Pan","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053145508","display_name":"Vamsi Kalagaturu","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vamsi Kalagaturu","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103089658","display_name":"Rohit Menon","orcid":"https://orcid.org/0000-0001-9724-1182"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Menon","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069650777","display_name":"Murad Dawood","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Murad Dawood","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5065181173"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.9839,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78603714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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":0.9961000084877014,"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/computer-science","display_name":"Computer science","score":0.7637495398521423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6801755428314209},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6589474678039551},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5397928357124329},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5377872586250305},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5207776427268982},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47250497341156006},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.4723951518535614},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4639636278152466},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4453910291194916},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.444191575050354},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4425315856933594},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4215729832649231},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39221498370170593},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3409397602081299},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1167268455028534},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10802894830703735}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7637495398521423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6801755428314209},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6589474678039551},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5397928357124329},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5377872586250305},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5207776427268982},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47250497341156006},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.4723951518535614},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4639636278152466},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4453910291194916},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.444191575050354},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4425315856933594},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4215729832649231},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39221498370170593},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3409397602081299},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1167268455028534},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10802894830703735},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2636085726","display_name":null,"funder_award_id":"964854-RePAIR-H2020-FETOPEN-2018-2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3420616086","display_name":null,"funder_award_id":"EXC-2070 - 390732324","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W398859631","https://openalex.org/W1505952289","https://openalex.org/W1515145374","https://openalex.org/W1630678085","https://openalex.org/W1959608418","https://openalex.org/W2092705708","https://openalex.org/W2110762409","https://openalex.org/W2154418813","https://openalex.org/W2337977475","https://openalex.org/W2561079189","https://openalex.org/W2605843382","https://openalex.org/W2617643478","https://openalex.org/W2810956809","https://openalex.org/W2955836939","https://openalex.org/W2962793652","https://openalex.org/W2963092423","https://openalex.org/W2967729293","https://openalex.org/W3003545971","https://openalex.org/W3021544315","https://openalex.org/W3046735138","https://openalex.org/W3089883116","https://openalex.org/W3105287169","https://openalex.org/W3128478003","https://openalex.org/W3187060969","https://openalex.org/W3200879008","https://openalex.org/W3202804971","https://openalex.org/W3216772467","https://openalex.org/W4205312330","https://openalex.org/W4205415842","https://openalex.org/W4205892839","https://openalex.org/W4206060409","https://openalex.org/W4226450761","https://openalex.org/W4285102582","https://openalex.org/W4309771864","https://openalex.org/W4312333838","https://openalex.org/W4312668445","https://openalex.org/W4323527514","https://openalex.org/W4323527547","https://openalex.org/W6636808768","https://openalex.org/W6640963894","https://openalex.org/W6776730770","https://openalex.org/W6801742604","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W2626642044","https://openalex.org/W2902924992","https://openalex.org/W2388758053","https://openalex.org/W93537448","https://openalex.org/W2619807045","https://openalex.org/W2949734191","https://openalex.org/W2017333877","https://openalex.org/W4233821346","https://openalex.org/W2282742543"],"abstract_inverted_index":{"Viewpoint":[0],"planning":[1,84],"is":[2,32,165],"an":[3,33],"important":[4],"task":[5,36],"in":[6],"any":[7],"application":[8],"where":[9],"objects":[10,38,95],"or":[11,124],"scenes":[12],"need":[13],"to":[14,20,92,119,137,167,174,191],"be":[15,47,112],"viewed":[16],"from":[17,49],"different":[18,175],"angles":[19],"achieve":[21],"sufficient":[22],"coverage.":[23],"The":[24],"mapping":[25],"of":[26],"confined":[27],"spaces":[28],"such":[29],"as":[30,107],"shelves":[31],"especially":[34],"challenging":[35],"since":[37],"occlude":[39],"each":[40],"other":[41],"and":[42,96,154],"the":[43,50,55,75,79,98,142,170,178,184,192],"scene":[44],"can":[45,111],"only":[46,188],"observed":[48],"front,":[51],"posing":[52],"limitations":[53],"on":[54,141,145],"possible":[56],"viewpoints.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61,132],"propose":[62],"a":[63,102,121,126,134,159],"deep":[64],"reinforcement":[65],"learning":[66],"framework":[67],"that":[68,110],"generates":[69],"promising":[70],"views":[71],"aiming":[72],"at":[73],"reducing":[74],"map":[76,106,143],"entropy.":[77],"Additionally,":[78],"pipeline":[80],"extends":[81],"standard":[82],"viewpoint":[83,123,185],"by":[85,149],"predicting":[86],"adequate":[87],"minimally":[88],"invasive":[89],"push":[90,139,180],"actions":[91,181],"uncover":[93],"occluded":[94],"increase":[97,169],"visible":[99],"space.":[100],"Using":[101],"2.5D":[103],"occupancy":[104],"height":[105],"state":[108],"representation":[109],"efficiently":[113],"updated,":[114],"our":[115,163],"system":[116,164],"decides":[117],"whether":[118],"plan":[120],"new":[122],"perform":[125],"push.":[127],"To":[128],"learn":[129],"feasible":[130],"pushes,":[131],"use":[133],"neural":[135],"network":[136],"sample":[138],"candidates":[140],"based":[144],"training":[146],"data":[147],"provided":[148],"human":[150],"experts.":[151],"As":[152],"simulated":[153],"real-world":[155],"experimental":[156],"results":[157],"with":[158,187],"robotic":[160],"arm":[161],"show,":[162],"able":[166],"significantly":[168],"mapped":[171],"space":[172],"compared":[173],"baselines,":[176],"while":[177],"executed":[179],"highly":[182],"benefit":[183],"planner":[186],"minor":[189],"changes":[190],"object":[193],"configuration.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}