{"id":"https://openalex.org/W4320059797","doi":"https://doi.org/10.1109/ssrr56537.2022.10018710","title":"Localizing Complex Terrains through Adaptive Submodularity","display_name":"Localizing Complex Terrains through Adaptive Submodularity","publication_year":2022,"publication_date":"2022-11-08","ids":{"openalex":"https://openalex.org/W4320059797","doi":"https://doi.org/10.1109/ssrr56537.2022.10018710"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr56537.2022.10018710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5065187946","display_name":"Hsuan-Chi Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsuan-Chi Chang","raw_affiliation_strings":["National Central University,Mathematics Department,Taiwan","Mathematics Department, National Central University, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Central University,Mathematics Department,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"Mathematics Department, National Central University, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039241771","display_name":"Kuo-Shih Tseng","orcid":"https://orcid.org/0000-0002-7818-5821"},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kuo-Shih Tseng","raw_affiliation_strings":["National Central University,Faculty of Mathematics Department,Taiwan","Faculty of Mathematics Department, National Central University, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Central University,Faculty of Mathematics Department,Taiwan","institution_ids":["https://openalex.org/I22265921"]},{"raw_affiliation_string":"Faculty of Mathematics Department, National Central University, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I22265921"],"apc_list":null,"apc_paid":null,"fwci":0.4891,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.66596746,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"138","last_page":"144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9789999723434448,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.9243035316467285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7560967206954956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7533314228057861},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.569060206413269},{"id":"https://openalex.org/keywords/rubble","display_name":"Rubble","score":0.5079112648963928},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4469684958457947},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4293980598449707},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34926044940948486},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10760664939880371}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9243035316467285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7560967206954956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7533314228057861},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.569060206413269},{"id":"https://openalex.org/C2777929537","wikidata":"https://www.wikidata.org/wiki/Q1225329","display_name":"Rubble","level":2,"score":0.5079112648963928},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4469684958457947},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4293980598449707},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34926044940948486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10760664939880371},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr56537.2022.10018710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1680189815","https://openalex.org/W1966832848","https://openalex.org/W2023509699","https://openalex.org/W2029828838","https://openalex.org/W2080379754","https://openalex.org/W2110896443","https://openalex.org/W2111904757","https://openalex.org/W2143996311","https://openalex.org/W2168359464","https://openalex.org/W2552315440","https://openalex.org/W2788030459","https://openalex.org/W2883975974","https://openalex.org/W3003506411","https://openalex.org/W3039737909","https://openalex.org/W3092357259","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3136025710","https://openalex.org/W6631046737","https://openalex.org/W6676553512","https://openalex.org/W6679608865"],"related_works":["https://openalex.org/W2571272808","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W1971295396","https://openalex.org/W2909067415","https://openalex.org/W4226082913","https://openalex.org/W3005657145","https://openalex.org/W2028594013","https://openalex.org/W1643150164"],"abstract_inverted_index":{"Quadrupedal":[0],"robots":[1,18],"are":[2,41,47],"designed":[3],"to":[4,19,83,97],"walk":[5,20],"over":[6,87],"complex":[7,22,88],"terrains":[8,23,89],"(e.g.,":[9,52],"hills,":[10],"rubble,":[11],"deformable":[12],"terrains,":[13],"etc.)":[14],"However,":[15],"training":[16],"quadruped":[17],"on":[21],"is":[24,29,81,95],"a":[25,57,70],"challenge.":[26],"One":[27],"difficulty":[28],"the":[30,34,64,99,111,119],"problem":[31],"caused":[32],"by":[33],"sensors.":[35,92],"Exteroceptive":[36],"sensors":[37],"such":[38],"as":[39],"cameras":[40,46],"cheap":[42],"and":[43,75,101],"convenient,":[44],"but":[45],"limited":[48],"in":[49],"some":[50],"environments":[51],"sewers":[53],"without":[54,90],"lights).":[55],"Training":[56],"legged":[58,79],"robot":[59,80],"using":[60],"proprioceptive":[61],"can":[62],"avoid":[63],"aforementioned":[65],"situation.":[66],"This":[67],"research":[68],"proposes":[69],"method":[71],"combining":[72],"terrain":[73,100],"curriculum":[74],"adaptive":[76],"submodularity.":[77],"The":[78,108],"able":[82],"adaptively":[84],"select":[85],"actions":[86,104],"exteroceptive":[91],"Adaptive":[93],"submodularity":[94],"utilized":[96],"predict":[98],"take":[102],"sequential":[103],"with":[105],"theoretical":[106],"guarantees.":[107],"experiments":[109],"demonstrate":[110],"proposed":[112],"approach":[113],"has":[114],"fewer":[115],"prediction":[116],"errors":[117],"than":[118],"random":[120],"approach.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}