{"id":"https://openalex.org/W3044306737","doi":"https://doi.org/10.1109/lra.2020.3010455","title":"Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments","display_name":"Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments","publication_year":2020,"publication_date":"2020-07-20","ids":{"openalex":"https://openalex.org/W3044306737","doi":"https://doi.org/10.1109/lra.2020.3010455","mag":"3044306737"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010455","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":"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/A5061073981","display_name":"Xinyue Kan","orcid":"https://orcid.org/0000-0002-9608-4290"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinyue Kan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, USA"],"raw_orcid":"https://orcid.org/0000-0002-9608-4290","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065527096","display_name":"Hanzhe Teng","orcid":"https://orcid.org/0000-0001-6510-3527"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanzhe Teng","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, USA"],"raw_orcid":"https://orcid.org/0000-0001-6510-3527","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006022077","display_name":"Konstantinos Karydis","orcid":"https://orcid.org/0000-0002-1144-8260"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Konstantinos Karydis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, USA"],"raw_orcid":"https://orcid.org/0000-0002-1144-8260","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, USA","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0346,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.92968724,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"5","issue":"4","first_page":"5969","last_page":"5976"},"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":0.9983000159263611,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958000183105469,"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/obstacle","display_name":"Obstacle","score":0.8258360624313354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.718219518661499},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.5715797543525696},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5235930681228638},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5013449192047119},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48284775018692017},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4789721965789795},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4739263653755188},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4533188045024872},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.43059858679771423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4014579653739929},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3403993248939514},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33156174421310425},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3253430128097534},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10709527134895325}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8258360624313354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.718219518661499},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.5715797543525696},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5235930681228638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5013449192047119},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48284775018692017},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4789721965789795},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4739263653755188},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4533188045024872},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.43059858679771423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4014579653739929},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3403993248939514},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33156174421310425},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3253430128097534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10709527134895325},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3010455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010455","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W140238390","https://openalex.org/W784387389","https://openalex.org/W1544032329","https://openalex.org/W1873425142","https://openalex.org/W1967831540","https://openalex.org/W1969483458","https://openalex.org/W1970499532","https://openalex.org/W2019429425","https://openalex.org/W2020957543","https://openalex.org/W2027698629","https://openalex.org/W2049771613","https://openalex.org/W2051237043","https://openalex.org/W2066511933","https://openalex.org/W2076406387","https://openalex.org/W2089314366","https://openalex.org/W2093385687","https://openalex.org/W2096339473","https://openalex.org/W2108154659","https://openalex.org/W2110469440","https://openalex.org/W2119520055","https://openalex.org/W2124915221","https://openalex.org/W2128786284","https://openalex.org/W2163947939","https://openalex.org/W2171977020","https://openalex.org/W2285629142","https://openalex.org/W2313274380","https://openalex.org/W2565608288","https://openalex.org/W2566202839","https://openalex.org/W2603794593","https://openalex.org/W2604812688","https://openalex.org/W2674880927","https://openalex.org/W2738842532","https://openalex.org/W2740121437","https://openalex.org/W2762380910","https://openalex.org/W2774251627","https://openalex.org/W2800786248","https://openalex.org/W2890058332","https://openalex.org/W2891747834","https://openalex.org/W2921787192","https://openalex.org/W2950752390","https://openalex.org/W2962824291","https://openalex.org/W2997494682","https://openalex.org/W3000956673","https://openalex.org/W3001427233","https://openalex.org/W3104379836","https://openalex.org/W6605705772","https://openalex.org/W6674491179","https://openalex.org/W6731212831","https://openalex.org/W6736142671"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3137227771","https://openalex.org/W2015961810","https://openalex.org/W4389233868","https://openalex.org/W2956606787"],"abstract_inverted_index":{"Online":[0],"coverage":[1,23,46,98,107],"planning":[2,47],"can":[3,59,94,103],"be":[4,60],"useful":[5],"in":[6,29,78,109],"applications":[7],"like":[8],"field":[9],"monitoring":[10],"and":[11,13,66,82,99,102],"search":[12],"rescue.":[14],"Without":[15],"prior":[16],"information":[17],"of":[18,111],"the":[19,25],"environment,":[20],"achieving":[21],"resolution-complete":[22,57],"considering":[24],"non-holonomic":[26,87],"mobility":[27],"constraints":[28],"commonly-used":[30],"vehicles":[31,72],"(e.g.,":[32],"wheeled":[33,88],"robots)":[34],"remains":[35],"a":[36,43,86],"challenge.":[37],"In":[38],"this":[39],"letter,":[40],"we":[41],"propose":[42],"hierarchical,":[44],"hex-decomposition-based":[45],"algorithm":[48],"for":[49,70],"unknown,":[50],"obstacle-cluttered":[51],"environments.":[52],"The":[53],"proposed":[54],"approach":[55,93],"ensures":[56],"coverage,":[58],"tuned":[61],"to":[62,73,119],"achieve":[63],"fast":[64],"exploration,":[65],"plans":[67],"smooth":[68],"paths":[69],"Dubins":[71],"follow":[74],"at":[75],"constant":[76],"velocity":[77],"real-time.":[79],"Gazebo":[80],"simulations":[81],"hardware":[83],"experiments":[84],"with":[85],"robot":[89],"show":[90],"that":[91],"our":[92],"successfully":[95],"tradeoff":[96],"between":[97],"exploration":[100,116],"speed":[101,117],"outperform":[104],"existing":[105],"online":[106],"algorithms":[108],"terms":[110],"total":[112],"covered":[113],"area":[114],"or":[115],"according":[118],"how":[120],"it":[121],"is":[122],"tuned.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":10}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
