{"id":"https://openalex.org/W3020504739","doi":"https://doi.org/10.1109/tase.2021.3118737","title":"Online Mapping and Motion Planning Under Uncertainty for Safe Navigation in Unknown Environments","display_name":"Online Mapping and Motion Planning Under Uncertainty for Safe Navigation in Unknown Environments","publication_year":2021,"publication_date":"2021-11-10","ids":{"openalex":"https://openalex.org/W3020504739","doi":"https://doi.org/10.1109/tase.2021.3118737","mag":"3020504739"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3118737","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2021.3118737","pdf_url":"https://ieeexplore.ieee.org/ielx7/8856/9918179/09610137.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8856/9918179/09610137.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019041076","display_name":"\u00c8ric Pairet","orcid":"https://orcid.org/0000-0002-3363-0426"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Eric Pairet","raw_affiliation_strings":["Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh, U.K","[Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh EH8 9BT, U.K. He is now with the Technology Innovation Institute (TII), Abu Dhabi, UAE (e-mail: eric.pairet@tii.ae)]"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh, U.K","institution_ids":["https://openalex.org/I32062511"]},{"raw_affiliation_string":"[Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh EH8 9BT, U.K. He is now with the Technology Innovation Institute (TII), Abu Dhabi, UAE (e-mail: eric.pairet@tii.ae)]","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101609628","display_name":"Juan David Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9593-6789"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]},{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["ES","GB"],"is_corresponding":false,"raw_author_name":"Juan David Hernandez","raw_affiliation_strings":["Centre for Artificial Intelligence, Robotics and Human-Machine Systems (IROHMS), Cardiff University, Cardiff, U.K","[Computer Vision and Robotics Institute, University of Girona, 17004 Girona, Spain.]"],"affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence, Robotics and Human-Machine Systems (IROHMS), Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"[Computer Vision and Robotics Institute, University of Girona, 17004 Girona, Spain.]","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018440853","display_name":"Marc Carreras","orcid":"https://orcid.org/0000-0003-3117-9691"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]},{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["ES","GB"],"is_corresponding":false,"raw_author_name":"Marc Carreras","raw_affiliation_strings":["Computer Vision and Robotics Institute, University of Girona, Girona, Spain","[Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh EH8 9BT, U.K..]"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Institute, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]},{"raw_affiliation_string":"[Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh EH8 9BT, U.K..]","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034972272","display_name":"Yvan P\u00e9tillot","orcid":"https://orcid.org/0000-0002-1596-289X"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Yvan Petillot","raw_affiliation_strings":["Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh, U.K","Department of Aerospace Engineering Sciences, University of Colorado Boulder , Boulder, CO, 80309 USA"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh, U.K","institution_ids":["https://openalex.org/I32062511"]},{"raw_affiliation_string":"Department of Aerospace Engineering Sciences, University of Colorado Boulder , Boulder, CO, 80309 USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069564559","display_name":"Morteza Lahijanian","orcid":"https://orcid.org/0000-0001-7549-4365"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Morteza Lahijanian","raw_affiliation_strings":["Department of Aerospace Engineering Sciences, University of Colorado Boulder, Boulder, CO, USA","[Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh EH8 9BT, U.K. He is now with the Technology Innovation Institute (TII), Abu Dhabi, UAE (e-mail: eric.pairet@tii.ae)]"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering Sciences, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"[Edinburgh Centre for Robotics (The University of Edinburgh and Heriot-Watt University), Edinburgh EH8 9BT, U.K. He is now with the Technology Innovation Institute (TII), Abu Dhabi, UAE (e-mail: eric.pairet@tii.ae)]","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019041076"],"corresponding_institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":1.0681,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.78313136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"19","issue":"4","first_page":"3356","last_page":"3378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7585813403129578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.659814715385437},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.652281641960144},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5022315979003906},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.49997997283935547},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.46735289692878723},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4454440176486969},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.44078049063682556},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4389415979385376},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4384390711784363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4072696566581726},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35058486461639404},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.19033628702163696},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12537530064582825},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1250796616077423}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7585813403129578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.659814715385437},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.652281641960144},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5022315979003906},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.49997997283935547},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.46735289692878723},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4454440176486969},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.44078049063682556},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4389415979385376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4384390711784363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4072696566581726},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35058486461639404},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.19033628702163696},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12537530064582825},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1250796616077423},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/tase.2021.3118737","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2021.3118737","pdf_url":"https://ieeexplore.ieee.org/ielx7/8856/9918179/09610137.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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:https://orca.cardiff.ac.uk:144697","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:arXiv.org:2004.12317","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.12317","pdf_url":"https://arxiv.org/pdf/2004.12317","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3020504739","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2004.12317.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2004.12317","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2004.12317","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/tase.2021.3118737","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2021.3118737","pdf_url":"https://ieeexplore.ieee.org/ielx7/8856/9918179/09610137.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G1680849193","display_name":null,"funder_award_id":"ORCA Hub EPSRC (EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3315784031","display_name":null,"funder_award_id":"691980","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G5045220161","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6244725262","display_name":null,"funder_award_id":"Centre for Doctoral Training","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6545976110","display_name":null,"funder_award_id":"TWINN-2015","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320310750","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91"},{"id":"https://openalex.org/F4320311518","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93"},{"id":"https://openalex.org/F4320320332","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3020504739.pdf","grobid_xml":"https://content.openalex.org/works/W3020504739.grobid-xml"},"referenced_works_count":87,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1243671644","https://openalex.org/W1501966803","https://openalex.org/W1542612979","https://openalex.org/W1742473997","https://openalex.org/W1752118222","https://openalex.org/W1756618330","https://openalex.org/W1777480005","https://openalex.org/W1884545699","https://openalex.org/W1910072217","https://openalex.org/W1914059017","https://openalex.org/W1946812513","https://openalex.org/W1963696504","https://openalex.org/W1971998222","https://openalex.org/W1990871591","https://openalex.org/W1999131722","https://openalex.org/W2000359213","https://openalex.org/W2002201291","https://openalex.org/W2007864935","https://openalex.org/W2017646611","https://openalex.org/W2019586060","https://openalex.org/W2019949051","https://openalex.org/W2024382047","https://openalex.org/W2033052486","https://openalex.org/W2060645918","https://openalex.org/W2060922083","https://openalex.org/W2071279196","https://openalex.org/W2072033067","https://openalex.org/W2076552432","https://openalex.org/W2087939536","https://openalex.org/W2101496914","https://openalex.org/W2110762409","https://openalex.org/W2114549813","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2133844819","https://openalex.org/W2142298978","https://openalex.org/W2146074262","https://openalex.org/W2146232918","https://openalex.org/W2146881125","https://openalex.org/W2148228392","https://openalex.org/W2153219011","https://openalex.org/W2154418813","https://openalex.org/W2156123119","https://openalex.org/W2168992242","https://openalex.org/W2171266831","https://openalex.org/W2171792626","https://openalex.org/W2206417925","https://openalex.org/W2229105208","https://openalex.org/W2313274380","https://openalex.org/W2410641873","https://openalex.org/W2414947275","https://openalex.org/W2506989912","https://openalex.org/W2561657681","https://openalex.org/W2569527682","https://openalex.org/W2607968634","https://openalex.org/W2617410115","https://openalex.org/W2749001728","https://openalex.org/W2766505850","https://openalex.org/W2809054577","https://openalex.org/W2892081576","https://openalex.org/W2897946272","https://openalex.org/W2901058014","https://openalex.org/W2908970796","https://openalex.org/W2909595458","https://openalex.org/W2910234834","https://openalex.org/W2910239470","https://openalex.org/W2950630402","https://openalex.org/W2960249673","https://openalex.org/W2962683513","https://openalex.org/W2962822210","https://openalex.org/W2967193622","https://openalex.org/W2967333821","https://openalex.org/W2971157333","https://openalex.org/W3006593729","https://openalex.org/W3014195175","https://openalex.org/W3090077032","https://openalex.org/W3120090185","https://openalex.org/W3126614957","https://openalex.org/W3128677426","https://openalex.org/W3131580247","https://openalex.org/W3133653368","https://openalex.org/W3146766514","https://openalex.org/W3174748154","https://openalex.org/W6639461375","https://openalex.org/W6639871426","https://openalex.org/W6792068349"],"related_works":["https://openalex.org/W3214464180","https://openalex.org/W2908970796","https://openalex.org/W2580831541","https://openalex.org/W3081015288","https://openalex.org/W2942821629","https://openalex.org/W2963511744","https://openalex.org/W3173423885","https://openalex.org/W2962683513","https://openalex.org/W2739041399","https://openalex.org/W1833252985","https://openalex.org/W3186806860","https://openalex.org/W2027416654","https://openalex.org/W3134070994","https://openalex.org/W2134106111","https://openalex.org/W3129762237","https://openalex.org/W2947758540","https://openalex.org/W1996982349","https://openalex.org/W2800532881","https://openalex.org/W3197234345","https://openalex.org/W2950878895"],"abstract_inverted_index":{"Safe":[0],"autonomous":[1,183],"navigation":[2],"is":[3,36,105],"an":[4,56,91,190,194],"essential":[5],"and":[6,41,61,79,97,108,148,151,186,204,238],"challenging":[7],"problem":[8],"for":[9,59,156,207],"robots":[10,234],"operating":[11,220],"in":[12,116,161,165,171,189,221,240],"highly":[13],"unstructured":[14],"or":[15],"completely":[16],"unknown":[17],"environments.":[18,242],"Under":[19],"these":[20,51],"conditions,":[21],"not":[22],"only":[23],"robotic":[24,217],"systems":[25,208],"must":[26],"deal":[27],"with":[28,50,66,74,209],"limited":[29,210],"localization":[30],"information":[31],"but":[32],"also":[33],"their":[34,39],"maneuverability":[35],"constrained":[37],"by":[38],"dynamics":[40],"often":[42],"suffers":[43],"from":[44],"uncertainty.":[45],"In":[46],"order":[47],"to":[48,89,102,167,215,235],"cope":[49],"constraints,":[52],"this":[53,128],"article":[54,226],"proposes":[55],"uncertainty-based":[57],"framework":[58],"mapping":[60,86],"planning":[62,134],"feasible":[63,107],"motions":[64],"online":[65,80],"probabilistic":[67,77,157],"safety":[68],"guarantees.":[69],"The":[70],"proposed":[71,154],"approach":[72],"deals":[73],"the":[75,87,95,117,132,140,153,172,199,202],"motion,":[76],"safety,":[78],"computation":[81],"constraints":[82],"by:":[83],"1)":[84,131],"incrementally":[85],"surroundings":[88],"build":[90],"uncertainty-aware":[92,169],"representation":[93],"of":[94,127,139,201],"environment":[96,192],"2)":[98,152],"iteratively":[99],"(re)planning":[100],"trajectories":[101],"goal":[103],"that":[104,232],"kinodynamically":[106],"probabilistically":[109],"safe":[110],"through":[111],"a":[112,180,228],"multilayered":[113,133],"sampling-based":[114],"planner":[115],"belief":[118,142],"space.":[119],"In-depth":[120],"empirical":[121],"analyses":[122],"illustrate":[123],"some":[124],"important":[125],"properties":[126],"approach,":[129],"namely:":[130],"strategy":[135,231],"enables":[136,233],"rapid":[137],"exploration":[138],"high-dimensional":[141],"space":[143],"while":[144],"preserving":[145],"asymptotic":[146],"optimality":[147],"completeness":[149],"guarantees":[150],"routine":[155],"collision":[158],"checking":[159],"results":[160],"tighter":[162],"probability":[163],"bounds":[164],"comparison":[166],"other":[168],"planners":[170],"literature.":[173],"Furthermore,":[174],"real-world":[175],"in-water":[176],"experimental":[177],"evaluation":[178],"on":[179,193],"nonholonomic":[181],"torpedo-shaped":[182],"underwater":[184],"vehicle":[185,197],"simulated":[187],"trials":[188],"urban":[191],"unmanned":[195],"aerial":[196],"demonstrate":[198],"efficacy":[200],"method":[203],"its":[205],"suitability":[206],"onboard":[211],"computational":[212],"power.":[213],"Note":[214],"Practitioners\u2014Emergent":[216],"applications":[218],"require":[219],"previously":[222],"unmapped":[223],"scenarios.":[224],"This":[225],"presents":[227],"unified":[229],"mapping\u2013planning":[230],"navigate":[236],"autonomously":[237],"safely":[239],"harsh":[241]},"counts_by_year":[{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}