{"id":"https://openalex.org/W4317383094","doi":"https://doi.org/10.1109/robio55434.2022.10011789","title":"MR-GMMExplore: Multi-Robot Exploration System in Unknown Environments based on Gaussian Mixture Model","display_name":"MR-GMMExplore: Multi-Robot Exploration System in Unknown Environments based on Gaussian Mixture Model","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383094","doi":"https://doi.org/10.1109/robio55434.2022.10011789"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011789","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5101970595","display_name":"Yichun Wu","orcid":"https://orcid.org/0000-0002-6323-0693"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yichun Wu","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051535472","display_name":"Qiuyi Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuyi Gu","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112107807","display_name":"Jincheng Yu","orcid":"https://orcid.org/0009-0007-3831-3845"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jincheng Yu","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034555845","display_name":"Guangjun Ge","orcid":"https://orcid.org/0000-0001-5855-6480"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangjun Ge","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370361","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0001-7683-6937"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009239895","display_name":"Qingmin Liao","orcid":"https://orcid.org/0000-0002-7509-3964"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingmin Liao","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Beijing,China","Shenzhen International Graduate School, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115594767","display_name":"Chun Zhang","orcid":"https://orcid.org/0000-0001-7041-6958"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Zhang","raw_affiliation_strings":["Tsinghua University,School of Integrated Circuits,Beijing,China","School of Integrated Circuits, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Integrated Circuits,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100445061","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0001-6108-5157"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9815,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.77535617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1198","last_page":"1203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976999759674072,"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/mixture-model","display_name":"Mixture model","score":0.8420195579528809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7732504606246948},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7135306596755981},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6510167121887207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.606330931186676},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5735729932785034},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5669237375259399},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4759904146194458},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4629017114639282},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.421120285987854},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08912128210067749},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08299121260643005}],"concepts":[{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.8420195579528809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7732504606246948},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7135306596755981},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6510167121887207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.606330931186676},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5735729932785034},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5669237375259399},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4759904146194458},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4629017114639282},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.421120285987854},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08912128210067749},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08299121260643005},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011789","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1966213627","https://openalex.org/W2083534342","https://openalex.org/W2107667896","https://openalex.org/W2296693980","https://openalex.org/W2429678572","https://openalex.org/W2771728020","https://openalex.org/W2884745741","https://openalex.org/W2906263139","https://openalex.org/W2911079412","https://openalex.org/W2911679274","https://openalex.org/W2963479576","https://openalex.org/W2965804373","https://openalex.org/W2973864946","https://openalex.org/W2976722701","https://openalex.org/W3002818939","https://openalex.org/W3004418007","https://openalex.org/W3037010467","https://openalex.org/W3098064904","https://openalex.org/W3100948105","https://openalex.org/W3168540072","https://openalex.org/W3169784495","https://openalex.org/W3207022667","https://openalex.org/W4210522203"],"related_works":["https://openalex.org/W2130588278","https://openalex.org/W2140013578","https://openalex.org/W2551663027","https://openalex.org/W2132105173","https://openalex.org/W2140110270","https://openalex.org/W1605073378","https://openalex.org/W97659922","https://openalex.org/W4312888545","https://openalex.org/W2792859880","https://openalex.org/W3005878929"],"abstract_inverted_index":{"Collaborative":[0],"exploration":[1,46,93,115],"in":[2,39,63,103,216],"an":[3,7,227],"unknown":[4],"environ-ment":[5],"is":[6,36,196,224],"essential":[8],"task":[9],"for":[10,31,51,81],"mobile":[11],"robotic":[12],"systems.":[13],"Without":[14],"external":[15],"positioning,":[16],"multi-robot":[17],"mapping":[18,83,90],"methods":[19],"have":[20],"relied":[21],"on":[22],"the":[23,78,118,177,201,211],"transfer":[24,106],"of":[25,61,167,179,213],"place":[26],"descriptors":[27],"and":[28,84,113,154,191,220],"sensor":[29],"data":[30,111],"relative":[32],"pose":[33],"estimation,":[34],"which":[35,104],"not":[37],"feasible":[38],"communication-limited":[40],"environments.":[41],"In":[42],"addition,":[43],"existing":[44],"frontier-based":[45],"strategies":[47],"are":[48],"mostly":[49],"designed":[50],"occupancy":[52],"grid":[53,171],"maps,":[54],"thus":[55],"failing":[56],"to":[57,92,109,150,209],"use":[58],"surface":[59],"information":[60,128,136],"obstacles":[62],"complex":[64],"three-dimensional":[65],"scenes.":[66],"To":[67],"address":[68],"these":[69],"limitations,":[70],"we":[71,123,141],"utilize":[72],"Gaussian":[73],"Mixture":[74],"Model":[75],"(GMM)":[76],"as":[77,226],"map":[79],"form":[80],"both":[82],"exploration.":[85],"We":[86,204],"extend":[87],"our":[88,192,214],"previous":[89],"work":[91],"setting":[94],"by":[95],"introducing":[96],"MR-GMMExplore,":[97],"a":[98,125,143,155],"Multi-Robot":[99],"GMM-based":[100,156],"Exploration":[101],"system":[102],"robots":[105,149],"GMM":[107,120,126,138,164,180],"submaps":[108,181],"reduce":[110],"transmission":[112,178],"perform":[114],"directly":[116],"using":[117,163],"generated":[119],"map.":[121],"Specifically,":[122],"propose":[124],"spatial":[127],"extraction":[129,194],"strategy":[130,195],"that":[131,147,159,176],"efficiently":[132],"extracts":[133],"obstacle":[134],"probability":[135],"from":[137],"submaps.":[139],"Then":[140],"present":[142],"goal":[144],"selection":[145],"method":[146],"allows":[148],"explore":[151],"different":[152],"areas,":[153],"local":[157,161],"planner":[158],"realizes":[160],"planning":[162],"maps":[165],"instead":[166],"converting":[168],"them":[169],"into":[170],"maps.":[172],"Simulation":[173],"results":[174],"show":[175],"reduces":[182],"approximately":[183],"96%":[184],"communication":[185],"load":[186],"compared":[187],"with":[188],"point":[189],"clouds":[190],"mean-based":[193],"4":[197],"times":[198],"faster":[199],"than":[200],"traversal-based":[202],"one.":[203],"also":[205],"conduct":[206],"comparative":[207],"experiments":[208],"demonstrate":[210],"effectiveness":[212],"approach":[215],"reducing":[217],"backtracking":[218],"paths":[219],"enhancing":[221],"cooperation.":[222],"MR-GMMExplore":[223],"published":[225],"open-source":[228],"ROS":[229],"package":[230],"at":[231],"https://github.com/efc-robot/gmm_explore.":[232]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
