{"id":"https://openalex.org/W4415593755","doi":"https://doi.org/10.1109/lra.2025.3625486","title":"Task-Oriented Occupancy Grid Mapping Through Active Data Management","display_name":"Task-Oriented Occupancy Grid Mapping Through Active Data Management","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W4415593755","doi":"https://doi.org/10.1109/lra.2025.3625486"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3625486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625486","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/A5113382436","display_name":"Jinche La","orcid":null},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinche La","raw_affiliation_strings":["Defense AI Research Center, Agency for Defense Development (ADD), Daejeon, Republic of Korea","Defense AI Research Center, Agency for Defense Development(ADD), Daejeon, Republic Of Korea"],"raw_orcid":"https://orcid.org/0009-0003-1472-1343","affiliations":[{"raw_affiliation_string":"Defense AI Research Center, Agency for Defense Development (ADD), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]},{"raw_affiliation_string":"Defense AI Research Center, Agency for Defense Development(ADD), Daejeon, Republic Of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062871549","display_name":"Jun-Gill Kang","orcid":"https://orcid.org/0000-0001-6578-6989"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Gill Kang","raw_affiliation_strings":["Defense AI Research Center, Agency for Defense Development (ADD), Daejeon, Republic of Korea","Defense AI Research Center, Agency for Defense Development(ADD), Daejeon, Republic Of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6578-6989","affiliations":[{"raw_affiliation_string":"Defense AI Research Center, Agency for Defense Development (ADD), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]},{"raw_affiliation_string":"Defense AI Research Center, Agency for Defense Development(ADD), Daejeon, Republic Of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102770736","display_name":"Dasol Lee","orcid":"https://orcid.org/0000-0002-9370-9072"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dasol Lee","raw_affiliation_strings":["Defense AI Research Center, Agency for Defense Development (ADD), Daejeon, Republic of Korea","Defense AI Research Center, Agency for Defense Development(ADD), Daejeon, Republic Of Korea"],"raw_orcid":"https://orcid.org/0000-0002-9370-9072","affiliations":[{"raw_affiliation_string":"Defense AI Research Center, Agency for Defense Development (ADD), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]},{"raw_affiliation_string":"Defense AI Research Center, Agency for Defense Development(ADD), Daejeon, Republic Of Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31660911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"12883","last_page":"12890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9879999756813049,"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/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9879999756813049,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.8240000009536743},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5608999729156494},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.552299976348877},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5210000276565552},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4742000102996826},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.4345000088214874},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4228000044822693},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.3483999967575073},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.3409999907016754},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.3402000069618225}],"concepts":[{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.8240000009536743},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7360000014305115},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5608999729156494},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.552299976348877},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5210000276565552},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4742000102996826},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4390999972820282},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.4345000088214874},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.43299999833106995},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4228000044822693},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.35269999504089355},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3483999967575073},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.3402000069618225},{"id":"https://openalex.org/C1668388","wikidata":"https://www.wikidata.org/wiki/Q1149776","display_name":"Data management","level":2,"score":0.33410000801086426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.32350000739097595},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3206000030040741},{"id":"https://openalex.org/C137314826","wikidata":"https://www.wikidata.org/wiki/Q2330408","display_name":"Data mapping","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C13670688","wikidata":"https://www.wikidata.org/wiki/Q3500548","display_name":"Space partitioning","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2937999963760376},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C136085584","wikidata":"https://www.wikidata.org/wiki/Q910289","display_name":"Overlay","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2556000053882599},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3625486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3625486","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1987648924","https://openalex.org/W1991752086","https://openalex.org/W2029315739","https://openalex.org/W2071906076","https://openalex.org/W2099893201","https://openalex.org/W2115579991","https://openalex.org/W2133844819","https://openalex.org/W2154418813","https://openalex.org/W2411093439","https://openalex.org/W2414314951","https://openalex.org/W2607968634","https://openalex.org/W2803030343","https://openalex.org/W2809054577","https://openalex.org/W2898231767","https://openalex.org/W2962787639","https://openalex.org/W2963627347","https://openalex.org/W3004227484","https://openalex.org/W3007469703","https://openalex.org/W3016754278","https://openalex.org/W3017511842","https://openalex.org/W3114626444","https://openalex.org/W3133648073","https://openalex.org/W3206772186","https://openalex.org/W4200150166","https://openalex.org/W4210423514","https://openalex.org/W4210974115","https://openalex.org/W4292544413","https://openalex.org/W4387682331","https://openalex.org/W4390873060","https://openalex.org/W4393864935","https://openalex.org/W4405785343"],"related_works":[],"abstract_inverted_index":{"Occupancy":[0],"mapping":[1,48,158],"is":[2],"essential":[3],"for":[4,68,80,91],"robotic":[5,165],"systems":[6],"operating":[7],"in":[8,110],"unknown":[9],"or":[10,30],"dynamic":[11],"environments":[12],"with":[13],"limited":[14],"computational":[15,161],"resources.":[16],"However,":[17],"many":[18],"existing":[19],"frameworks":[20],"rely":[21],"on":[22,83,130],"a":[23,43,93,125],"fixed":[24],"design":[25],"choice":[26],"prioritizing":[27],"either":[28],"local":[29,135],"global":[31,131],"mapping,":[32],"which":[33],"limits":[34],"adaptability":[35],"to":[36,142],"the":[37,105,160],"other":[38,108],"domain.":[39],"This":[40],"paper":[41],"presents":[42],"flexible,":[44],"hash-based":[45],"occupancy":[46],"grid":[47],"framework":[49,59,106],"that":[50,104,138],"addresses":[51],"this":[52],"limitation":[53],"through":[54],"active":[55,164],"data":[56],"management.":[57],"The":[58],"integrates":[60],"three":[61],"key":[62],"features:":[63],"Sequential":[64],"Voxel":[65],"Pruning":[66],"(SVP)":[67],"direct":[69],"control":[70],"of":[71,145,163],"voxel":[72],"counts":[73],"and":[74,86,97,113,133],"memory,":[75],"Dynamic":[76],"Boundary":[77],"Filtering":[78],"(DBF)":[79],"focusing":[81],"updates":[82],"task-relevant":[84],"regions,":[85],"Decoupled":[87],"Obstacle":[88],"Inflation":[89],"(DOI)":[90],"maintaining":[92,121],"compact":[94],"inflation":[95],"layer":[96],"efficient":[98],"collision":[99],"checking.":[100],"Benchmark":[101],"results":[102],"demonstrate":[103],"outperforms":[107],"methods":[109],"update":[111],"rate":[112],"memory":[114,122],"management":[115],"across":[116],"diverse":[117],"setups,":[118],"while":[119],"effectively":[120,141],"usage":[123],"below":[124],"user-defined":[126],"limit.":[127],"Simulation":[128],"experiments":[129,155],"pathfinding":[132],"UAV":[134],"planning":[136,147],"show":[137],"it":[139],"adapts":[140],"navigational":[143],"tasks":[144],"different":[146],"scales,":[148],"where":[149],"specialized":[150],"maps":[151],"often":[152],"struggle.":[153],"Real-world":[154],"confirm":[156],"stable":[157],"under":[159],"load":[162],"platforms.":[166]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-28T00:00:00"}