{"id":"https://openalex.org/W2915903202","doi":"https://doi.org/10.1109/tase.2019.2894748","title":"Autonomous Robotic Exploration by Incremental Road Map Construction","display_name":"Autonomous Robotic Exploration by Incremental Road Map Construction","publication_year":2019,"publication_date":"2019-02-20","ids":{"openalex":"https://openalex.org/W2915903202","doi":"https://doi.org/10.1109/tase.2019.2894748","mag":"2915903202"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2894748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2894748","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["Department of Electrical Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5780-7284","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014759749","display_name":"Wenzheng Chi","orcid":"https://orcid.org/0000-0002-8121-2624"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzheng Chi","raw_affiliation_strings":["Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8121-2624","affiliations":[{"raw_affiliation_string":"Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039935452","display_name":"Yuxiang Sun","orcid":"https://orcid.org/0000-0002-7704-0559"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuxiang Sun","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":4.2918,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.95006488,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"16","issue":"4","first_page":"1720","last_page":"1731"},"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":0.993399977684021,"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":0.9768000245094299,"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/motion-planning","display_name":"Motion planning","score":0.8687474131584167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6791976094245911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6524533629417419},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6122535467147827},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5572905540466309},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5386068820953369},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4927361309528351},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46413204073905945},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4476097822189331},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.41078075766563416},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3973059356212616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3407328128814697},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09413868188858032}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8687474131584167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6791976094245911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6524533629417419},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6122535467147827},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5572905540466309},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5386068820953369},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4927361309528351},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46413204073905945},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4476097822189331},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.41078075766563416},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3973059356212616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3407328128814697},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09413868188858032},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2019.2894748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2894748","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-100769","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-100769","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-100769","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=1545-5955&rft.volume=16&rft.issue=4&rft.date=2019&rft.spage=1720&rft.aulast=Wang&rft.aufirst=&rft.atitle=Autonomous%20Robotic%20Exploration%20by%20Incremental%20Road%20Map%20Construction&rft.title=IEEE%20TRANSACTIONS%20ON%20AUTOMATION%20SCIENCE%20AND%20ENGINEERING","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G6931088166","display_name":null,"funder_award_id":"ITS/236/15","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"}],"funders":[{"id":"https://openalex.org/F4320321920","display_name":"Innovation and Technology Commission","ror":"https://ror.org/04vf9tr09"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W131069610","https://openalex.org/W637527836","https://openalex.org/W1481261821","https://openalex.org/W1484557735","https://openalex.org/W1485487406","https://openalex.org/W1595410283","https://openalex.org/W1684737195","https://openalex.org/W1685331108","https://openalex.org/W1997295310","https://openalex.org/W2020861455","https://openalex.org/W2021118704","https://openalex.org/W2039066394","https://openalex.org/W2075967785","https://openalex.org/W2082219174","https://openalex.org/W2089437550","https://openalex.org/W2099144379","https://openalex.org/W2101024363","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2107667896","https://openalex.org/W2109142140","https://openalex.org/W2111963422","https://openalex.org/W2128990851","https://openalex.org/W2161674001","https://openalex.org/W2162234209","https://openalex.org/W2171960444","https://openalex.org/W2283534560","https://openalex.org/W2333373499","https://openalex.org/W2409009991","https://openalex.org/W2413963660","https://openalex.org/W2541955505","https://openalex.org/W2556215627","https://openalex.org/W2564325388","https://openalex.org/W2571268510","https://openalex.org/W2581716810","https://openalex.org/W2737883164","https://openalex.org/W2737993726","https://openalex.org/W2743017046","https://openalex.org/W2752596383","https://openalex.org/W2768153469","https://openalex.org/W2884608476","https://openalex.org/W2902731060","https://openalex.org/W3101233843","https://openalex.org/W4236251699","https://openalex.org/W4253570324","https://openalex.org/W4300091548","https://openalex.org/W6605295560","https://openalex.org/W6757237387"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W1904098742","https://openalex.org/W2908094156","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2389896347","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514"],"abstract_inverted_index":{"In":[0,142],"this":[1,82],"paper,":[2],"we":[3,50,151,174],"propose":[4,152],"a":[5,17,52,88,153,169,176,201],"novel":[6],"path":[7,66,102,111,133,162,189],"planning":[8,106],"framework":[9],"for":[10,136],"autonomous":[11],"exploration":[12,29],"in":[13,59,204],"unknown":[14],"environments":[15],"using":[16,200],"mobile":[18,202],"robot.":[19,127],"A":[20,64],"graph":[21],"structure":[22,32],"is":[23,33,112],"incrementally":[24],"constructed":[25],"along":[26],"with":[27,115],"the":[28,34,39,42,47,60,68,72,75,96,99,105,122,126,132,137,146,161,165,182,187],"process.":[30],"The":[31,108,191],"road":[35,48,83],"map":[36,84],"that":[37,93,156],"represents":[38],"topology":[40],"of":[41,71,98,125,168,195],"explored":[43,61],"environment.":[44],"To":[45],"construct":[46],"map,":[49],"design":[51],"sampling":[53],"strategy":[54],"to":[55,74,103,144,180],"get":[56],"random":[57],"points":[58],"environment":[62],"uniformly.":[63],"global":[65,101,110],"from":[67],"current":[69],"location":[70],"robot":[73,203],"target":[76,149,171,177,183],"area":[77],"can":[78,130],"be":[79],"found":[80],"on":[81],"efficiently.":[85],"We":[86],"utilize":[87],"lazy":[89],"collision":[90],"checking":[91],"method":[92,120],"only":[94],"checks":[95],"feasibility":[97],"generated":[100],"improve":[104],"efficiency.":[107],"feasible":[109],"further":[113],"optimized":[114],"our":[116,196],"proposed":[117],"trajectory":[118],"optimization":[119],"considering":[121],"motion":[123],"constraints":[124],"This":[128],"mechanism":[129,179],"facilitate":[131],"cost":[134,163],"evaluation":[135],"next":[138,147],"best":[139,148],"view":[140],"selection.":[141],"order":[143],"select":[145],"region,":[150],"utility":[154],"function":[155],"takes":[157],"into":[158],"account":[159],"both":[160,205],"and":[164,185,193,207],"information":[166],"gain":[167],"candidate":[170],"region.":[172],"Moreover,":[173],"present":[175],"reselection":[178],"evaluate":[181],"region":[184],"reduce":[186],"extra":[188],"cost.":[190],"efficiency":[192],"effectiveness":[194],"approach":[197],"are":[198],"demonstrated":[199],"simulation":[206],"real":[208],"experimental":[209],"studies.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
