{"id":"https://openalex.org/W4405785993","doi":"https://doi.org/10.1109/iros58592.2024.10802691","title":"Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization","display_name":"Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785993","doi":"https://doi.org/10.1109/iros58592.2024.10802691"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5075165193","display_name":"Ruofei Bai","orcid":"https://orcid.org/0000-0001-7201-0409"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ruofei Bai","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050656216","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0000-4850-2278"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033106028","display_name":"Hongliang Guo","orcid":"https://orcid.org/0000-0002-9836-3090"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hongliang Guo","raw_affiliation_strings":["Agency for Science, Technology and Research (A*STAR),Institute for Infocomm Research (I2R),Singapore,138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Science, Technology and Research (A*STAR),Institute for Infocomm Research (I2R),Singapore,138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058006729","display_name":"Pengyu Yin","orcid":"https://orcid.org/0009-0004-7470-0736"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Pengyu Yin","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057104857","display_name":"Wei\u2010Yun Yau","orcid":"https://orcid.org/0000-0001-5709-9169"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei-Yun Yau","raw_affiliation_strings":["Agency for Science, Technology and Research (A*STAR),Institute for Infocomm Research (I2R),Singapore,138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Science, Technology and Research (A*STAR),Institute for Infocomm Research (I2R),Singapore,138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10229","last_page":"10236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/submodular-set-function","display_name":"Submodular set function","score":0.8832694292068481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6315337419509888},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6262195110321045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6030005216598511},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5341355800628662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5160614848136902},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4332338571548462},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3452184498310089},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2764844596385956},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21369588375091553},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19847697019577026}],"concepts":[{"id":"https://openalex.org/C178621042","wikidata":"https://www.wikidata.org/wiki/Q7631710","display_name":"Submodular set function","level":2,"score":0.8832694292068481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6315337419509888},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6262195110321045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6030005216598511},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5341355800628662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5160614848136902},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4332338571548462},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3452184498310089},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2764844596385956},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21369588375091553},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19847697019577026}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1535541145","https://openalex.org/W1562003885","https://openalex.org/W1583562684","https://openalex.org/W1601649239","https://openalex.org/W2000791724","https://openalex.org/W2029780423","https://openalex.org/W2053381548","https://openalex.org/W2080823437","https://openalex.org/W2105638603","https://openalex.org/W2158557760","https://openalex.org/W2161123599","https://openalex.org/W2296693980","https://openalex.org/W2912678658","https://openalex.org/W2968116878","https://openalex.org/W2971269667","https://openalex.org/W3004281301","https://openalex.org/W3004758596","https://openalex.org/W3110514869","https://openalex.org/W3127605436","https://openalex.org/W3160905013","https://openalex.org/W3173439324","https://openalex.org/W3194332337","https://openalex.org/W3205735294","https://openalex.org/W3206527737","https://openalex.org/W4200233657","https://openalex.org/W4213231647","https://openalex.org/W4226481925","https://openalex.org/W4286367218","https://openalex.org/W4313306306","https://openalex.org/W4380534848","https://openalex.org/W4390006247","https://openalex.org/W4390357398","https://openalex.org/W4400111252","https://openalex.org/W4400976105"],"related_works":["https://openalex.org/W1595919516","https://openalex.org/W2945022594","https://openalex.org/W2194604332","https://openalex.org/W4379619607","https://openalex.org/W1989453388","https://openalex.org/W2922450688","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,41,59,86,94,127,146,151,162,178,181,185,189],"multi-robot":[4,36],"active":[5],"graph":[6,16,109,159,174],"exploration":[7,69],"problem,":[8],"where":[9,68],"robots":[10],"need":[11],"to":[12,135,144,167],"collaboratively":[13],"cover":[14],"a":[15,98,114],"environment":[17],"while":[18,149],"maintaining":[19],"reliable":[20,89],"pose":[21,90,108,173],"estimation":[22],"in":[23,132,188],"collaborative":[24],"Simultaneous":[25],"Localization":[26],"and":[27,77,124,171,176,184],"Mapping":[28],"(SLAM).":[29],"Considering":[30],"both":[31],"objectives":[32],"presents":[33],"challenges":[34],"for":[35,45,74,88],"pathfinding,":[37],"as":[38,97],"it":[39],"involves":[40],"expensive":[42],"covariance":[43,122],"propagation":[44],"SLAM":[46,105,119],"uncertainty":[47,106,120],"evaluation,":[48],"especially":[49],"when":[50],"considering":[51],"various":[52],"combinations":[53],"of":[54,118,129,164,180],"robots\u2019":[55],"paths.":[56],"To":[57],"reduce":[58],"computational":[60],"complexity,":[61],"we":[62],"propose":[63],"an":[64],"efficient":[65,116],"two-stage":[66],"strategy":[67],"paths":[70,87],"are":[71],"first":[72],"generated":[73,158],"quick":[75,169],"coverage,":[76],"then":[78],"enhanced":[79,172],"by":[80,103],"adding":[81],"informative":[82],"loop-closing":[83],"actions":[84],"along":[85],"estimation.":[91],"We":[92,139],"formulate":[93],"latter":[95],"problem":[96,102],"non-monotone":[99],"submodular":[100,133],"maximization":[101],"relating":[104],"with":[107],"topology,":[110],"which":[111],"(1)":[112],"facilitates":[113],"more":[115],"evaluation":[117],"than":[121],"inference,":[123],"(2)":[125],"allows":[126],"employment":[128],"approximation":[130,182],"algorithms":[131,183],"optimization":[134],"provide":[136],"suboptimality":[137],"guarantees.":[138],"further":[140],"introduce":[141],"ordering":[142],"heuristics":[143],"improve":[145],"objective":[147],"values":[148],"preserving":[150],"optimality":[152],"bound.":[153],"Simulation":[154],"experiments":[155],"over":[156],"randomly":[157],"environments":[160],"verify":[161],"effectiveness":[163],"our":[165],"methods":[166],"achieve":[168],"coverage":[170],"reliability,":[175],"benchmark":[177],"performance":[179],"greedy-based":[186],"algorithm":[187],"loop":[190],"edge":[191],"selection":[192],"problem.":[193],"Our":[194],"implementations":[195],"will":[196],"be":[197],"open-source":[198],"at":[199],"https://github.com/bairuofei/CGE.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}