{"id":"https://openalex.org/W2159462134","doi":"https://doi.org/10.1109/robot.1987.1087824","title":"On terrain acquisition by a finite-sized mobile robot in plane","display_name":"On terrain acquisition by a finite-sized mobile robot in plane","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2159462134","doi":"https://doi.org/10.1109/robot.1987.1087824","mag":"2159462134"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","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/A5027293473","display_name":"Nageswara S. V. Rao","orcid":"https://orcid.org/0000-0002-3408-5941"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"N. Rao","raw_affiliation_strings":["Department of Computer Science, Louisiana State University, Baton Rouge, LA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Louisiana State University, Baton Rouge, LA","institution_ids":["https://openalex.org/I121820613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009505287","display_name":"S. S. Iyengar","orcid":"https://orcid.org/0000-0003-2944-8178"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Iyengar","raw_affiliation_strings":["Department of Computer Science, Louisiana State University, Baton Rouge, LA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Louisiana State University, Baton Rouge, LA","institution_ids":["https://openalex.org/I121820613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110066535","display_name":"C.C. Jorgensen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C. Jorgensen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5012682713","display_name":"C.R. Weisbin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116219","display_name":"Engineering Systems (United States)","ror":"https://ror.org/02qg60849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116219"]},{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Weisbin","raw_affiliation_strings":["Engineering Physics and Mathematics division, Center for Engineering Systems Advanced Research, Oak Ridge National Laboratory, Oak Ridge, TN"],"affiliations":[{"raw_affiliation_string":"Engineering Physics and Mathematics division, Center for Engineering Systems Advanced Research, Oak Ridge National Laboratory, Oak Ridge, TN","institution_ids":["https://openalex.org/I1289243028","https://openalex.org/I4210116219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027293473"],"corresponding_institution_ids":["https://openalex.org/I121820613"],"apc_list":null,"apc_paid":null,"fwci":0.8954,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.78458768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"1314","last_page":"1319"},"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":0.996999979019165,"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/T12288","display_name":"Optimization and Search Problems","score":0.9945999979972839,"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/terrain","display_name":"Terrain","score":0.9431454539299011},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7863470315933228},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7354844808578491},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7127032279968262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5904010534286499},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5346125364303589},{"id":"https://openalex.org/keywords/raised-relief-map","display_name":"Raised-relief map","score":0.5299110412597656},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5027544498443604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4958551824092865},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49307891726493835},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.44440558552742004},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4440397024154663},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.43223071098327637},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.338483601808548},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.23534256219863892},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15018075704574585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1352514922618866},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07267904281616211},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.05141770839691162}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9431454539299011},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7863470315933228},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7354844808578491},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7127032279968262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5904010534286499},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5346125364303589},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.5299110412597656},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5027544498443604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4958551824092865},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49307891726493835},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.44440558552742004},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4440397024154663},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.43223071098327637},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.338483601808548},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.23534256219863892},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15018075704574585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1352514922618866},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07267904281616211},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.05141770839691162},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.1987.1087824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalcommons.lsu.edu:petroleum_engineering_pubs-1260","is_oa":false,"landing_page_url":"https://digitalcommons.lsu.edu/petroleum_engineering_pubs/260","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},{"id":"pmh:oai:repository.lsu.edu:petroleum_engineering_pubs-1260","is_oa":false,"landing_page_url":"https://repository.lsu.edu/petroleum_engineering_pubs/260","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337480","display_name":"Basic Energy Sciences","ror":"https://ror.org/05mg91w61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W17285909","https://openalex.org/W163491343","https://openalex.org/W1602132814","https://openalex.org/W1965440866","https://openalex.org/W1990718291","https://openalex.org/W2001804342","https://openalex.org/W2024403195","https://openalex.org/W2024693023","https://openalex.org/W2042106485","https://openalex.org/W2070460012","https://openalex.org/W2102237796","https://openalex.org/W2114631320","https://openalex.org/W2163178194","https://openalex.org/W4235894032","https://openalex.org/W6606662878"],"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/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W2050548713"],"abstract_inverted_index":{"The":[0,84],"terrain":[1,12,42,52,101,125],"acquisition":[2,7,53],"problem":[3,27],"deals":[4],"with":[5],"the":[6,9,37,40,91,99,107,122,128,131,134,140,150],"of":[8,39,68,82,90,120,130],"complete":[10,41,100],"obstacle":[11,72],"model":[13,102],"by":[14,54,62,106],"a":[15,25,49,55,110],"mobile":[16],"robot":[17,57,85,108,132,151],"placed":[18],"in":[19,59,109],"an":[20,63],"unexplored":[21],"terrain.":[22],"This":[23],"is":[24,73],"precursory":[26],"to":[28],"many":[29],"well-known":[30],"find-path":[31],"and":[32,76],"related":[33],"problems":[34],"which":[35],"assume":[36],"availability":[38],"model.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47,137],"present":[48],"method":[50],"for":[51,127,143,149],"finite-sized":[56],"operating":[58],"plane":[60],"populated":[61],"unknown":[64,78],"(but,":[65,79],"finite)":[66,80],"number":[67,81],"polygonal":[69],"obstacles;":[70],"each":[71],"arbitrarily":[74],"located":[75],"has":[77],"vertices.":[83],"progressively":[86],"explores":[87],"newer":[88],"vertices":[89],"obstacles":[92],"using":[93],"sensor":[94],"equipment.":[95],"We":[96,113],"show":[97,115],"that":[98,116,139],"will":[103],"be":[104,147],"built":[105],"finite":[111],"time.":[112],"also":[114],"at":[117],"any":[118],"point":[119],"time":[121],"partially":[123],"acquired":[124],"suffices":[126],"navigation":[129,141,152],"during":[133,153],"exploration.":[135,154],"Hence":[136],"conclude":[138],"techniques":[142],"known":[144],"terrains":[145],"can":[146],"applied":[148]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
