{"id":"https://openalex.org/W4389668112","doi":"https://doi.org/10.1109/iros55552.2023.10341929","title":"Autonomous Exploration Using Ground Robots with Safety Guarantees","display_name":"Autonomous Exploration Using Ground Robots with Safety Guarantees","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389668112","doi":"https://doi.org/10.1109/iros55552.2023.10341929"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341929","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341929","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/A5085141011","display_name":"David Smith Sundarsingh","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210112210","display_name":"Robert Bosch (Brazil)","ror":"https://ror.org/01yjxek63","country_code":"BR","type":"company","lineage":["https://openalex.org/I4210112210","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]}],"countries":["BR","CN","IN"],"is_corresponding":true,"raw_author_name":"David Smith Sundarsingh","raw_affiliation_strings":["IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","institution_ids":["https://openalex.org/I4210112210","https://openalex.org/I4210091347"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010394119","display_name":"Jay Bhagiya","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210112210","display_name":"Robert Bosch (Brazil)","ror":"https://ror.org/01yjxek63","country_code":"BR","type":"company","lineage":["https://openalex.org/I4210112210","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]}],"countries":["BR","CN","IN"],"is_corresponding":false,"raw_author_name":"Jay Bhagiya","raw_affiliation_strings":["IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","institution_ids":["https://openalex.org/I4210112210","https://openalex.org/I4210091347"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061533285","display_name":"Jeel Chatrola","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210112210","display_name":"Robert Bosch (Brazil)","ror":"https://ror.org/01yjxek63","country_code":"BR","type":"company","lineage":["https://openalex.org/I4210112210","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]}],"countries":["BR","CN","IN"],"is_corresponding":false,"raw_author_name":"Jeel Chatrola","raw_affiliation_strings":["IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","institution_ids":["https://openalex.org/I4210112210","https://openalex.org/I4210091347"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073867567","display_name":"Pushpak Jagtap","orcid":"https://orcid.org/0000-0002-5452-8850"},"institutions":[{"id":"https://openalex.org/I4210091347","display_name":"Robert Bosch (China)","ror":"https://ror.org/00cedkn40","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091347","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210112210","display_name":"Robert Bosch (Brazil)","ror":"https://ror.org/01yjxek63","country_code":"BR","type":"company","lineage":["https://openalex.org/I4210112210","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]}],"countries":["BR","CN","IN"],"is_corresponding":false,"raw_author_name":"Pushpak Jagtap","raw_affiliation_strings":["IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"IISc,Robert Bosch Centre for Cyber Physical Systems,Bangalore,India","institution_ids":["https://openalex.org/I4210112210","https://openalex.org/I4210091347"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085141011"],"corresponding_institution_ids":["https://openalex.org/I4210091347","https://openalex.org/I4210112210","https://openalex.org/I4210151956"],"apc_list":null,"apc_paid":null,"fwci":0.3665,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61796138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"9745","last_page":"9750"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/robot","display_name":"Robot","score":0.7373484373092651},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6126872301101685},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5367220044136047},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.534664511680603},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4536116421222687},{"id":"https://openalex.org/keywords/ignorance","display_name":"Ignorance","score":0.4423050284385681},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4417823851108551},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.42708003520965576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4198583960533142},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3847654163837433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2786988615989685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22197562456130981},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08271518349647522},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08044159412384033}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7373484373092651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6126872301101685},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5367220044136047},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.534664511680603},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4536116421222687},{"id":"https://openalex.org/C2778732403","wikidata":"https://www.wikidata.org/wiki/Q815577","display_name":"Ignorance","level":2,"score":0.4423050284385681},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4417823851108551},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42708003520965576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4198583960533142},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3847654163837433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2786988615989685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22197562456130981},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08271518349647522},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08044159412384033},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341929","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10341929","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337432","display_name":"Center for Scientific Review","ror":"https://ror.org/04r5s4b52"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W1484739396","https://openalex.org/W1598855039","https://openalex.org/W1838714828","https://openalex.org/W1999016870","https://openalex.org/W2005389775","https://openalex.org/W2107667896","https://openalex.org/W2112660220","https://openalex.org/W2117211893","https://openalex.org/W2152784531","https://openalex.org/W2487779201","https://openalex.org/W2771728020","https://openalex.org/W2879404536","https://openalex.org/W2891234582","https://openalex.org/W2905178987","https://openalex.org/W2907636777","https://openalex.org/W2968968404","https://openalex.org/W3011042361","https://openalex.org/W3047022590","https://openalex.org/W3091113961","https://openalex.org/W3103706207","https://openalex.org/W3104168345","https://openalex.org/W3128130598","https://openalex.org/W3136926086","https://openalex.org/W3205557404","https://openalex.org/W3207246097","https://openalex.org/W6688688956"],"related_works":["https://openalex.org/W4387185014","https://openalex.org/W4387906132","https://openalex.org/W4200350283","https://openalex.org/W588868971","https://openalex.org/W4321603797","https://openalex.org/W4321603789","https://openalex.org/W4321603833","https://openalex.org/W3103328764","https://openalex.org/W2234824512","https://openalex.org/W2165574943"],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,11,38,97,102],"in":[2,15,40,126,136],"an":[3,95],"unknown":[4],"environment":[5],"is":[6,21,43,124],"widely":[7],"studied,":[8],"and":[9,72,77,116,140],"many":[10],"strategies":[12],"exist.":[13],"However,":[14],"most":[16,35],"of":[17,32,36,46,50,58,121,130],"the":[18,30,37,44,51,55,59,100,106,114,117],"works,":[19],"safety":[20,33,111],"not":[22],"usually":[23],"given":[24],"top":[25],"priority.":[26],"The":[27,119],"reason":[28],"behind":[29],"violation":[31],"by":[34],"algorithms":[39],"real-world":[41,141],"applications":[42],"ignorance":[45],"some":[47],"or":[48],"all":[49],"following":[52],"factors":[53,107],"(i)":[54],"mathematical":[56],"model":[57],"robot,":[60],"(ii)":[61],"practical":[62],"constraints":[63,80],"on":[64],"states":[65],"(like":[66,74],"constrained":[67],"steering":[68],"angle,":[69],"speed,":[70],"etc.)":[71],"inputs":[73],"actuator":[75],"saturation),":[76],"(iii)":[78],"hardware":[79],"such":[81],"as":[82],"sampling":[83],"time,":[84],"sensor":[85],"noise,":[86],"modelling":[87],"uncertainties,":[88],"etc.":[89],"In":[90],"this":[91,122],"work,":[92],"we":[93],"propose":[94],"autonomous":[96],"framework":[98],"for":[99,113],"2-D":[101],"problem":[103],"that":[104],"considers":[105],"above":[108],"to":[109],"provide":[110],"guarantees":[112],"robot":[115],"environment.":[118],"effectiveness":[120],"method":[123],"shown":[125],"a":[127],"high-fidelity":[128],"simulation":[129,138],"different":[131,137],"robots":[132],"with":[133],"onboard":[134],"sensors":[135],"environments":[139],"implementation.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-12T06:13:28.667946","created_date":"2025-10-10T00:00:00"}