{"id":"https://openalex.org/W2793715864","doi":"https://doi.org/10.1109/lra.2018.2849567","title":"3-D Soil Compaction Mapping Through Kriging-Based Exploration With a Mobile Robot","display_name":"3-D Soil Compaction Mapping Through Kriging-Based Exploration With a Mobile Robot","publication_year":2018,"publication_date":"2018-06-21","ids":{"openalex":"https://openalex.org/W2793715864","doi":"https://doi.org/10.1109/lra.2018.2849567","mag":"2793715864"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2849567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2849567","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1803.08069","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088010757","display_name":"Jaime Pulido Fentanes","orcid":"https://orcid.org/0000-0001-7505-6533"},"institutions":[{"id":"https://openalex.org/I33821262","display_name":"Lincoln University - Pennsylvania","ror":"https://ror.org/0521rfb23","country_code":"US","type":"education","lineage":["https://openalex.org/I33821262"]},{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"Jaime Pulido Fentanes","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, Lincoln, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7505-6533","affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219","https://openalex.org/I33821262"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071249569","display_name":"Iain Gould","orcid":"https://orcid.org/0000-0001-5315-2241"},"institutions":[{"id":"https://openalex.org/I33821262","display_name":"Lincoln University - Pennsylvania","ror":"https://ror.org/0521rfb23","country_code":"US","type":"education","lineage":["https://openalex.org/I33821262"]},{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Iain Gould","raw_affiliation_strings":["Lincoln Institute for Agri-food Technology, University of Lincoln, Lincoln, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Institute for Agri-food Technology, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219","https://openalex.org/I33821262"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088202291","display_name":"Tom Duckett","orcid":null},"institutions":[{"id":"https://openalex.org/I33821262","display_name":"Lincoln University - Pennsylvania","ror":"https://ror.org/0521rfb23","country_code":"US","type":"education","lineage":["https://openalex.org/I33821262"]},{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Tom Duckett","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, Lincoln, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2971-7905","affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219","https://openalex.org/I33821262"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018447003","display_name":"Simon Pearson","orcid":"https://orcid.org/0000-0002-4297-4837"},"institutions":[{"id":"https://openalex.org/I33821262","display_name":"Lincoln University - Pennsylvania","ror":"https://ror.org/0521rfb23","country_code":"US","type":"education","lineage":["https://openalex.org/I33821262"]},{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Simon Pearson","raw_affiliation_strings":["Lincoln Institute for Agri-food Technology, University of Lincoln, Lincoln, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4297-4837","affiliations":[{"raw_affiliation_string":"Lincoln Institute for Agri-food Technology, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219","https://openalex.org/I33821262"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036667542","display_name":"Grzegorz Cielniak","orcid":"https://orcid.org/0000-0002-6299-8465"},"institutions":[{"id":"https://openalex.org/I33821262","display_name":"Lincoln University - Pennsylvania","ror":"https://ror.org/0521rfb23","country_code":"US","type":"education","lineage":["https://openalex.org/I33821262"]},{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Grzegorz Cielniak","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, Lincoln, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6299-8465","affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219","https://openalex.org/I33821262"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088010757"],"corresponding_institution_ids":["https://openalex.org/I33821262","https://openalex.org/I51532219"],"apc_list":null,"apc_paid":null,"fwci":0.3385,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67156024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":"4","first_page":"3066","last_page":"3072"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.98089998960495,"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"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.98089998960495,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10616","display_name":"Smart Agriculture and AI","score":0.9631999731063843,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.8785433769226074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.655689001083374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5654904246330261},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.47196757793426514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4334952235221863},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.38778701424598694},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3277742266654968},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30223923921585083},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.2753256559371948},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.20574015378952026}],"concepts":[{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.8785433769226074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.655689001083374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5654904246330261},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.47196757793426514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4334952235221863},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.38778701424598694},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3277742266654968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30223923921585083},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.2753256559371948},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.20574015378952026},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2018.2849567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2849567","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1803.08069","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.08069","pdf_url":"https://arxiv.org/pdf/1803.08069","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":"mag:2793715864","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1803.08069","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:figshare.com:article/24371431","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/3D_Soil_Compaction_Mapping_through_Kriging-based_Exploration_with_a_Mobile_Robot/24371431","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Text"},{"id":"doi:10.48550/arxiv.1803.08069","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1803.08069","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1803.08069","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.08069","pdf_url":"https://arxiv.org/pdf/1803.08069","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":[{"score":0.7099999785423279,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[{"id":"https://openalex.org/G6850720552","display_name":"Synthesis of remote sensing and novel ground truth sensors to develop high resolution soil moisture forecasts in China and the UK","funder_award_id":"ST/N006836/1","funder_id":"https://openalex.org/F4320334632","funder_display_name":"Science and Technology Facilities Council"}],"funders":[{"id":"https://openalex.org/F4320334632","display_name":"Science and Technology Facilities Council","ror":"https://ror.org/057g20z61"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2793715864.pdf","grobid_xml":"https://content.openalex.org/works/W2793715864.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W637527836","https://openalex.org/W798127328","https://openalex.org/W1542367368","https://openalex.org/W2012594493","https://openalex.org/W2024697317","https://openalex.org/W2027059021","https://openalex.org/W2032239956","https://openalex.org/W2040329444","https://openalex.org/W2043488348","https://openalex.org/W2049047455","https://openalex.org/W2058326012","https://openalex.org/W2072931689","https://openalex.org/W2089055951","https://openalex.org/W2089437550","https://openalex.org/W2109376134","https://openalex.org/W2122551820","https://openalex.org/W2123390312","https://openalex.org/W2126902408","https://openalex.org/W2156650534","https://openalex.org/W2293415574","https://openalex.org/W2489987505","https://openalex.org/W2603794593","https://openalex.org/W2757153082","https://openalex.org/W2767177888","https://openalex.org/W6678010758","https://openalex.org/W6678073246"],"related_works":["https://openalex.org/W2106167074","https://openalex.org/W64625665","https://openalex.org/W2187839453","https://openalex.org/W2619642883","https://openalex.org/W2182911123","https://openalex.org/W2419645789","https://openalex.org/W1970373271","https://openalex.org/W2117405923","https://openalex.org/W2917889582","https://openalex.org/W2948035849","https://openalex.org/W2875989524","https://openalex.org/W1991266721","https://openalex.org/W3013105002","https://openalex.org/W2469934531","https://openalex.org/W29109966","https://openalex.org/W2332179713","https://openalex.org/W1188609574","https://openalex.org/W3084051510","https://openalex.org/W2314183073","https://openalex.org/W2920880620"],"abstract_inverted_index":{"This":[0,58,133],"letter":[1,134],"presents":[2,135],"an":[3,14,39,78,143],"automated":[4],"method":[5],"for":[6,82,119,123,139],"creating":[7],"spatial":[8],"maps":[9,46,91],"of":[10,42,54,69,85,106,146],"soil":[11,19,45,86,90,131,150],"condition":[12,87],"with":[13,157],"outdoor":[15,79],"mobile":[16,80,159],"robot.":[17,160],"Effective":[18],"mapping":[20],"on":[21,102],"farms":[22],"can":[23],"enhance":[24],"yields,":[25],"reduce":[26],"inputs,":[27],"and":[28,62,67,93,129,142],"help":[29],"protect":[30],"the":[31,65,70,96,103,107,136],"environment.":[32],"Traditionally,":[33],"data":[34,127,152],"are":[35,47],"collected":[36],"manually":[37],"at":[38],"arbitrary":[40],"set":[41],"locations,":[43],"then":[44],"constructed":[48],"offline":[49],"using":[50,112,149],"kriging,":[51],"a":[52,116,154,158],"form":[53],"Gaussian":[55],"process":[56,59],"regression.":[57],"is":[60],"laborious":[61],"costly,":[63],"limiting":[64],"quality":[66,105],"resolution":[68],"resulting":[71],"information.":[72],"Instead,":[73],"we":[74],"propose":[75],"to":[76],"use":[77],"robot":[81],"automatic":[83],"collection":[84,128],"data,":[88],"building":[89],"online":[92],"also":[94],"adapting":[95],"robot's":[97],"exploration":[98,121,147],"strategy":[99],"on-the-fly":[100],"based":[101],"current":[104],"map.":[108],"We":[109],"show":[110],"how":[111],"kriging":[113],"variance":[114],"as":[115],"reward":[117],"function":[118],"robotic":[120],"allows":[122],"both":[124],"more":[125],"efficient":[126],"better":[130],"models.":[132],"theoretical":[137],"foundations":[138],"our":[140],"proposal":[141],"experimental":[144],"comparison":[145],"strategies":[148],"compaction":[151],"from":[153],"field":[155],"generated":[156]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
