{"id":"https://openalex.org/W4206602738","doi":"https://doi.org/10.1109/lra.2022.3141458","title":"Nonmyopic Informative Path Planning Based on Global Kriging Variance Minimization","display_name":"Nonmyopic Informative Path Planning Based on Global Kriging Variance Minimization","publication_year":2022,"publication_date":"2022-01-10","ids":{"openalex":"https://openalex.org/W4206602738","doi":"https://doi.org/10.1109/lra.2022.3141458"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3141458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3141458","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5031386948","display_name":"Chenxi Xiao","orcid":"https://orcid.org/0000-0002-7819-9633"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chenxi Xiao","raw_affiliation_strings":["Intelligent Systems and Assistive Technologies Lab at, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-7819-9633","affiliations":[{"raw_affiliation_string":"Intelligent Systems and Assistive Technologies Lab at, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072528523","display_name":"Juan Wachs","orcid":"https://orcid.org/0000-0002-6425-5745"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Wachs","raw_affiliation_strings":["Intelligent Systems and Assistive Technologies Lab at, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-6425-5745","affiliations":[{"raw_affiliation_string":"Intelligent Systems and Assistive Technologies Lab at, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":1.6256,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.83949212,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"1768","last_page":"1775"},"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":0.9994000196456909,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9771000146865845,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/traverse","display_name":"Traverse","score":0.7241061925888062},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7082796096801758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6691165566444397},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.622296154499054},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5276576280593872},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.5191870927810669},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4669419825077057},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46190744638442993},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.422853946685791},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4219430088996887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3907378315925598},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3632740378379822},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33057376742362976},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.24066424369812012},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1623910367488861}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7241061925888062},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7082796096801758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6691165566444397},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.622296154499054},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5276576280593872},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.5191870927810669},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4669419825077057},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46190744638442993},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.422853946685791},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4219430088996887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3907378315925598},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3632740378379822},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33057376742362976},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.24066424369812012},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1623910367488861},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3141458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3141458","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[{"id":"https://openalex.org/G2196561848","display_name":null,"funder_award_id":"NSF NRI 1925194","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G587841300","display_name":null,"funder_award_id":"NSF #2140612","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1531715726","https://openalex.org/W1941409503","https://openalex.org/W1972385709","https://openalex.org/W1995200351","https://openalex.org/W2007572995","https://openalex.org/W2016122564","https://openalex.org/W2018044188","https://openalex.org/W2024439876","https://openalex.org/W2083327122","https://openalex.org/W2084243923","https://openalex.org/W2104635975","https://openalex.org/W2128990851","https://openalex.org/W2143088799","https://openalex.org/W2143996311","https://openalex.org/W2163032586","https://openalex.org/W2164284962","https://openalex.org/W2529184366","https://openalex.org/W2620408778","https://openalex.org/W2772341554","https://openalex.org/W2788109308","https://openalex.org/W2893995718","https://openalex.org/W2962911744","https://openalex.org/W2964150011","https://openalex.org/W2973864946","https://openalex.org/W3062658395","https://openalex.org/W3092987314","https://openalex.org/W3100948105","https://openalex.org/W3118260104","https://openalex.org/W3134070994","https://openalex.org/W3197437553","https://openalex.org/W3207462752","https://openalex.org/W6631084031","https://openalex.org/W6631771442","https://openalex.org/W6679093593"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"Remote,":[0],"hazardous,":[1],"and":[2,16,31,39,186],"extreme":[3],"exploration":[4,78],"missions":[5],"require":[6],"robots":[7],"to":[8,59,93,106,136,139,151,178],"be":[9,137,152],"equipped":[10],"with":[11,100],"on-board":[12],"sensors":[13],"for":[14,50,115,125,155,166],"rich":[15],"heterogeneous":[17],"information":[18,102,141],"during":[19],"deployment.":[20],"In":[21],"such":[22],"tasks,":[23,172],"path":[24,45,114],"planning":[25,71],"can":[26,47],"directly":[27],"affect":[28],"the":[29,34,76,108,116,122,127,149,179,184,191],"quality":[30],"quantity":[32],"of":[33,55,70,190],"observations":[35],"obtained":[36,120],"under":[37],"temporal":[38],"energetic":[40],"constraints.":[41],"While":[42],"most":[43],"informative":[44],"planners":[46],"only":[48],"plan":[49],"a":[51,64,85,163],"short":[52],"horizon":[53,150],"ahead":[54],"time":[56],"(referred":[57],"as":[58],"myopic":[60,180],"planners),":[61],"we":[62],"propose":[63],"novel":[65,86],"planner":[66,181],"that":[67,97],"is":[68,80,91,118,133,193],"capable":[69],"global":[72,109],"paths":[73],"in":[74,104],"which":[75,173],"nonmyopic":[77],"efficiency":[79,176],"optimized.":[81],"To":[82],"achieve":[83],"this,":[84],"sampling":[87],"algorithm":[88,124,132,159,192],"named":[89],"MPE":[90],"proposed":[92],"adaptively":[94],"sample":[95],"landmarks":[96,117],"are":[98],"associated":[99],"high":[101],"capacity,":[103],"order":[105],"minimize":[107],"Kriging":[110],"variance.":[111],"The":[112,131,144,158],"traverse":[113],"then":[119],"by":[121],"IPP-MPE":[123],"minimizing":[126],"overall":[128],"traveling":[129],"cost.":[130],"flexible":[134],"enough":[135,154],"applied":[138],"various":[140],"acquisition":[142],"tasks.":[143],"tractable":[145],"computational":[146],"cost":[147],"allows":[148],"long":[153],"scene":[156],"coverage.":[157],"was":[160],"deployed":[161],"on":[162],"real":[164],"robot":[165],"accomplishing":[167],"tactile":[168],"based":[169],"object":[170],"searching":[171],"shows":[174],"superior":[175],"compared":[177],"baseline.":[182],"Last,":[183],"complexity":[185],"other":[187],"theoretical":[188],"analysis":[189],"provided.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
