{"id":"https://openalex.org/W2567294760","doi":"https://doi.org/10.1109/ssrr.2016.7784275","title":"Efficient multi-sensor exploration using dependent observations and conditional mutual information","display_name":"Efficient multi-sensor exploration using dependent observations and conditional mutual information","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567294760","doi":"https://doi.org/10.1109/ssrr.2016.7784275","mag":"2567294760"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2016.7784275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5043462007","display_name":"Wennie Tabib","orcid":"https://orcid.org/0000-0002-4675-2924"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wennie Tabib","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063424666","display_name":"Red Whittaker","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Red Whittaker","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043462007"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.2893,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90472277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"42","last_page":"47"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9983999729156494,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9962000250816345,"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/mutual-information","display_name":"Mutual information","score":0.810680091381073},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.7933703064918518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6696462631225586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5399647951126099},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.5133287310600281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5007448196411133},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.48097336292266846},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.45032942295074463},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.43376946449279785},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4285484254360199},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3887510597705841},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.354327917098999},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.14333143830299377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13867875933647156},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12246507406234741},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08289483189582825}],"concepts":[{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.810680091381073},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.7933703064918518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6696462631225586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5399647951126099},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.5133287310600281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5007448196411133},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.48097336292266846},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.45032942295074463},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.43376946449279785},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4285484254360199},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3887510597705841},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.354327917098999},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.14333143830299377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13867875933647156},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12246507406234741},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08289483189582825},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2016.7784275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W135467536","https://openalex.org/W1573725801","https://openalex.org/W1584643859","https://openalex.org/W1605073378","https://openalex.org/W2056236664","https://openalex.org/W2056554710","https://openalex.org/W2063032535","https://openalex.org/W2069647917","https://openalex.org/W2089824962","https://openalex.org/W2108139879","https://openalex.org/W2154418813","https://openalex.org/W2183499408","https://openalex.org/W2199132929","https://openalex.org/W2283534560","https://openalex.org/W3013983152","https://openalex.org/W6636193600","https://openalex.org/W6686040847","https://openalex.org/W6775299407"],"related_works":["https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4293877624","https://openalex.org/W4229444815","https://openalex.org/W2130588278","https://openalex.org/W2140013578","https://openalex.org/W2551663027","https://openalex.org/W2132105173"],"abstract_inverted_index":{"In":[0],"search":[1],"and":[2,11,16,24,43,59,70,91,94,102,107,127,136,160],"rescue":[3],"scenarios,":[4],"it":[5],"is":[6,78,148],"important":[7],"to":[8,34,48,68,120,162],"find":[9],"survivors":[10],"map":[12,32,93],"their":[13],"locations":[14],"quickly":[15],"efficiently.":[17],"This":[18],"paper":[19],"presents":[20],"a":[21,55,62],"multimodal":[22,100,105],"exploration":[23,106,165],"mapping":[25,108],"approach":[26],"that":[27,116],"extends":[28],"an":[29,153,157],"occupancy":[30,134],"grid":[31],"formulation":[33],"incorporate":[35],"conditionally":[36],"dependent":[37],"sensor":[38,90,101],"observations":[39,123],"from":[40,54,61],"multiple":[41],"sensors":[42],"enables":[44],"reasoning":[45],"about":[46],"uncertainty":[47,130],"select":[49],"maximally":[50],"informative":[51],"actions.":[52],"Temperature":[53],"simulated":[56,63],"thermal":[57,71,122],"camera":[58,65],"range":[60],"time-of-flight":[64],"provide":[66],"updates":[67],"spatial":[69,92],"dense":[72],"voxel":[73],"maps.":[74],"The":[75,142],"information":[76],"gain":[77],"computed":[79],"as":[80],"the":[81,84,88,99,118,129,133,140,145],"sum":[82],"of":[83,124,131,139,144],"Mutual":[85,96],"Information":[86,97],"between":[87,98],"depth":[89],"Conditional":[95],"map.":[103],"Formulating":[104],"in":[109,113],"this":[110],"way":[111],"results":[112],"selecting":[114],"actions":[115],"drive":[117],"robot":[119,155],"collect":[121],"occupied":[125],"regions":[126],"reduce":[128],"both":[132],"state":[135,138],"temperature":[137],"environment.":[141],"performance":[143],"proposed":[146],"methodology":[147],"evaluated":[149],"through":[150],"simulations":[151],"with":[152],"aerial":[154],"exploring":[156],"office":[158],"room":[159],"compared":[161],"state-of-art":[163],"information-theoretic":[164],"techniques.":[166]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
