{"id":"https://openalex.org/W2990712183","doi":"https://doi.org/10.1109/robio49542.2019.8961681","title":"An Approach to Fast Multi-Robot Exploration in Buildings with Inaccessible Spaces","display_name":"An Approach to Fast Multi-Robot Exploration in Buildings with Inaccessible Spaces","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2990712183","doi":"https://doi.org/10.1109/robio49542.2019.8961681","mag":"2990712183"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://fordham.bepress.com/frcv_facultypubs/65","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034006232","display_name":"Matthew McNeill","orcid":null},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Matthew McNeill","raw_affiliation_strings":["Fordham University,Department of Computer and Information Science,Bronx,NY,U.S.A","Department of Computer and Information Science, Fordham University, Bronx, NY, U.S.A"],"affiliations":[{"raw_affiliation_string":"Fordham University,Department of Computer and Information Science,Bronx,NY,U.S.A","institution_ids":["https://openalex.org/I164389053"]},{"raw_affiliation_string":"Department of Computer and Information Science, Fordham University, Bronx, NY, U.S.A","institution_ids":["https://openalex.org/I164389053"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037546204","display_name":"Damian M. Lyons","orcid":"https://orcid.org/0000-0003-1460-9741"},"institutions":[{"id":"https://openalex.org/I164389053","display_name":"Fordham University","ror":"https://ror.org/03qnxaf80","country_code":"US","type":"education","lineage":["https://openalex.org/I164389053"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Damian Lyons","raw_affiliation_strings":["Fordham University,Department of Computer and Information Science,Bronx,NY,U.S.A","Department of Computer and Information Science, Fordham University, Bronx, NY, U.S.A"],"affiliations":[{"raw_affiliation_string":"Fordham University,Department of Computer and Information Science,Bronx,NY,U.S.A","institution_ids":["https://openalex.org/I164389053"]},{"raw_affiliation_string":"Department of Computer and Information Science, Fordham University, Bronx, NY, U.S.A","institution_ids":["https://openalex.org/I164389053"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034006232"],"corresponding_institution_ids":["https://openalex.org/I164389053"],"apc_list":null,"apc_paid":null,"fwci":0.1022,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.46464551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"660","last_page":"667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7329593300819397},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.642471432685852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6363809108734131},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6059921383857727},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5892536640167236},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5467261075973511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5219389796257019},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.49087172746658325},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.45081597566604614},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.44683271646499634},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44489753246307373},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.426663339138031},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35786616802215576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1972687542438507},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14404475688934326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12317439913749695},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12125405669212341},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09503811597824097}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7329593300819397},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.642471432685852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6363809108734131},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6059921383857727},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5892536640167236},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5467261075973511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5219389796257019},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.49087172746658325},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.45081597566604614},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.44683271646499634},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44489753246307373},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.426663339138031},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35786616802215576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1972687542438507},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14404475688934326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12317439913749695},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12125405669212341},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09503811597824097},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:fordham.bepress.com:frcv_facultypubs-1074","is_oa":true,"landing_page_url":"https://fordham.bepress.com/frcv_facultypubs/65","pdf_url":null,"source":{"id":"https://openalex.org/S4377196473","display_name":"Fordham Research Commons (Fordham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I164389053","host_organization_name":"Fordham University","host_organization_lineage":["https://openalex.org/I164389053"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:fordham.bepress.com:frcv_facultypubs-1074","is_oa":true,"landing_page_url":"https://fordham.bepress.com/frcv_facultypubs/65","pdf_url":null,"source":{"id":"https://openalex.org/S4377196473","display_name":"Fordham Research Commons (Fordham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I164389053","host_organization_name":"Fordham University","host_organization_lineage":["https://openalex.org/I164389053"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1068996823","https://openalex.org/W1562076358","https://openalex.org/W1586102543","https://openalex.org/W1601776805","https://openalex.org/W1966213627","https://openalex.org/W2019985870","https://openalex.org/W2046431540","https://openalex.org/W2066918656","https://openalex.org/W2109490756","https://openalex.org/W2110510068","https://openalex.org/W2111963422","https://openalex.org/W2113739894","https://openalex.org/W2119231080","https://openalex.org/W2142924305","https://openalex.org/W2183960582","https://openalex.org/W2292390491","https://openalex.org/W2297172695","https://openalex.org/W2406744841","https://openalex.org/W2471782605","https://openalex.org/W2573598823","https://openalex.org/W2794292089","https://openalex.org/W2901136733","https://openalex.org/W6655212223","https://openalex.org/W6696959385","https://openalex.org/W6720367941","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2368019753","https://openalex.org/W2333930193","https://openalex.org/W2737356002","https://openalex.org/W2246241526","https://openalex.org/W4301122218","https://openalex.org/W2374150061","https://openalex.org/W2081340182","https://openalex.org/W2369703001","https://openalex.org/W3201311488","https://openalex.org/W2031424614"],"abstract_inverted_index":{"The":[0],"rapid":[1],"exploration":[2,18,73,110,133,192],"of":[3,10,17,38,52,60,79,108,113,147,190,240],"unknown":[4],"environments":[5],"is":[6,68,160],"a":[7,20,39,76,91,120,124,144,153,183,217,267],"common":[8],"application":[9],"autonomous":[11],"multi-robot":[12,72],"teams.":[13],"For":[14,34,57],"some":[15,25],"types":[16],"missions,":[19],"mission":[21],"designer":[22],"may":[23,41,212],"possess":[24],"rudimentary":[26],"knowledge":[27,78],"about":[28],"the":[29,36,50,62,166,238,282],"area":[30,80],"to":[31,71,82,170,205,220],"be":[32,42,171,176,206,213],"explored.":[33],"example,":[35],"dimensions":[37],"building":[40],"known,":[43],"but":[44],"not":[45],"its":[46,139],"floor":[47],"layout":[48],"or":[49,225,285],"location":[51],"furniture":[53],"and":[54,88,94,115,135,187,208,227],"equipment":[55],"inside.":[56],"this":[58,163,179,229],"type":[59],"mission,":[61],"Space-Based":[63],"Potential":[64],"Field":[65],"(SBPF)":[66],"method":[67,146,164,189,196],"an":[69,98,157],"approach":[70,219],"which":[74,211],"leverages":[75],"priori":[77],"bounds":[81],"determine":[83],"robot":[84,109,191],"motion.":[85],"Explored":[86],"areas":[87,96,203,210,222],"obstacles":[89],"exert":[90,97],"repulsive":[92],"force,":[93,127],"unexplored":[95],"attractive":[99,126],"force.":[100],"While":[101],"SBPF":[102,186,252,263],"has":[103],"advantages":[104],"over":[105],"other":[106],"methods":[107],"in":[111,149,244,253,266],"terms":[112],"simplicity":[114],"performance,":[116],"inaccessible":[117,150,247],"space":[118,151,200],"poses":[119],"problem:":[121],"it":[122,174],"exerts":[123],"permanent":[125],"pulling":[128],"robots":[129],"away":[130],"from":[131],"useful":[132],"elsewhere":[134],"creating":[136],"minima":[137],"at":[138,281],"boundary.":[140],"Prior":[141],"research":[142],"established":[143],"simple":[145],"filling":[148],"as":[152,223],"solid":[154],"obstacle":[155],"once":[156],"enclosing":[158,168],"boundary":[159,169],"discovered;":[161],"however,":[162],"requires":[165],"entire":[167],"discovered":[172],"before":[173,286],"can":[175],"filled.":[177],"In":[178,269],"paper,":[180],"we":[181,273],"propose":[182],"novel":[184],"combined":[185],"frontier-based":[188],"called":[193],"O-SBPF.":[194],"Our":[195],"adds":[197],"two":[198],"new":[199],"classifications:":[201],"open,":[202],"known":[204],"accessible;":[207],"occluded,":[209,226],"inaccessible.":[214],"We":[215,235],"describe":[216],"ray-casting":[218],"designate":[221],"open":[224],"incorporate":[228],"designation":[230],"into":[231],"potential":[232],"vector":[233],"calculations.":[234],"then":[236],"show":[237,274],"effectiveness":[239],"O-SBPF":[241,249,276],"using":[242],"ROS/Stage":[243],"worlds":[245],"with":[246,255],"space.":[248],"significantly":[250],"outperforms":[251],"rooms":[254],"large":[256],"obstacles,":[257],"successfully":[258],"reaching":[259],"95%":[260,279],"coverage":[261,280],"while":[262],"becomes":[264],"stuck":[265],"minima.":[268],"less":[270],"complex":[271],"rooms,":[272],"that":[275],"generally":[277],"reaches":[278],"same":[283],"time":[284],"SBPF.":[287]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
