{"id":"https://openalex.org/W4381198774","doi":"https://doi.org/10.1109/tase.2023.3285300","title":"CURE: A Hierarchical Framework for Multi-Robot Autonomous Exploration Inspired by Centroids of Unknown Regions","display_name":"CURE: A Hierarchical Framework for Multi-Robot Autonomous Exploration Inspired by Centroids of Unknown Regions","publication_year":2023,"publication_date":"2023-06-19","ids":{"openalex":"https://openalex.org/W4381198774","doi":"https://doi.org/10.1109/tase.2023.3285300"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3285300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3285300","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/A5014289076","display_name":"Qingchen Bi","orcid":"https://orcid.org/0000-0002-7085-3178"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingchen Bi","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7085-3178","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5308-6539","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076028305","display_name":"Jian Wen","orcid":"https://orcid.org/0000-0001-6952-6375"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jian Wen","raw_affiliation_strings":["Group of Autonomous Driving, Xiaomi EV Company Limited, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6952-6375","affiliations":[{"raw_affiliation_string":"Group of Autonomous Driving, Xiaomi EV Company Limited, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008925784","display_name":"Zhangchao Pan","orcid":"https://orcid.org/0000-0003-3552-5862"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangchao Pan","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-3552-5862","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100622169","display_name":"Shiyong Zhang","orcid":"https://orcid.org/0000-0002-7255-9204"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyong Zhang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7255-9204","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101639678","display_name":"Runhua Wang","orcid":"https://orcid.org/0000-0002-1503-1219"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runhua Wang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037573848","display_name":"Jing Yuan","orcid":"https://orcid.org/0000-0001-5495-684X"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yuan","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5495-684X","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, the College of Artificial Intelligence, and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":36.4099,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99721023,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"21","issue":"3","first_page":"3773","last_page":"3786"},"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/centroid","display_name":"Centroid","score":0.8378071784973145},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.6982520818710327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6397696733474731},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6143361330032349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5175332427024841},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.39294952154159546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12284240126609802}],"concepts":[{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.8378071784973145},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.6982520818710327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6397696733474731},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6143361330032349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5175332427024841},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.39294952154159546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12284240126609802},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3285300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3285300","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G7204253615","display_name":null,"funder_award_id":"62293510","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7440800273","display_name":null,"funder_award_id":"62293513","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7751105383","display_name":null,"funder_award_id":"19JCJQJC62100","funder_id":"https://openalex.org/F4320336823","funder_display_name":"Science Fund for Distinguished Young Scholars of Tianjin"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336823","display_name":"Science Fund for Distinguished Young Scholars of Tianjin","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1966213627","https://openalex.org/W1969483458","https://openalex.org/W1972267259","https://openalex.org/W2034136660","https://openalex.org/W2060794637","https://openalex.org/W2096268286","https://openalex.org/W2096360021","https://openalex.org/W2104969271","https://openalex.org/W2105301171","https://openalex.org/W2108556272","https://openalex.org/W2113096797","https://openalex.org/W2113739894","https://openalex.org/W2119476348","https://openalex.org/W2125420246","https://openalex.org/W2129853306","https://openalex.org/W2135524320","https://openalex.org/W2136980446","https://openalex.org/W2167071388","https://openalex.org/W2169781427","https://openalex.org/W2183960582","https://openalex.org/W2296228853","https://openalex.org/W2409009991","https://openalex.org/W2506989912","https://openalex.org/W2571268510","https://openalex.org/W2581716810","https://openalex.org/W2600201730","https://openalex.org/W2771728020","https://openalex.org/W2897589660","https://openalex.org/W2904612118","https://openalex.org/W2907636777","https://openalex.org/W2915903202","https://openalex.org/W2968427533","https://openalex.org/W3003718768","https://openalex.org/W3005642736","https://openalex.org/W3006449166","https://openalex.org/W3014355579","https://openalex.org/W3035218572","https://openalex.org/W3132475407","https://openalex.org/W3176634028","https://openalex.org/W3207022667","https://openalex.org/W3207438938","https://openalex.org/W3217061540","https://openalex.org/W4312270149","https://openalex.org/W6638704531","https://openalex.org/W6688688956"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W4360958759","https://openalex.org/W2348235448","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W176898926","https://openalex.org/W288156810","https://openalex.org/W1562406979","https://openalex.org/W2962797788"],"abstract_inverted_index":{"In":[0,190,221,246],"this":[1,30,222,247],"paper,":[2,248],"a":[3,56,249],"novel":[4],"multi-robot":[5,52,167,186,232,259],"autonomous":[6,187,260],"exploration":[7,88,98,109,119,126,147,168,188,233,291,301],"approach":[8,131,296],"CURE":[9],"is":[10,32,38,61,93,100,181,205,225,252,272,276],"proposed":[11,130,253,295],"based":[12],"on":[13],"dynamic":[14],"Voronoi":[15,36,269],"diagrams":[16],"and":[17,54,86,125,137,150,159,197,211,242,275,289,303],"centroids":[18,92,104,114],"of":[19,29,42,51,68,84,128,231,239,258],"unknown":[20,77,207,218,280],"connected":[21],"regions.":[22,78],"Compared":[23],"with":[24,163],"existing":[25],"approaches,":[26],"the":[27,43,49,66,73,96,107,123,129,146,184,200,203,209,229,236,240,243,256,268,279,283,287,294,300],"novelty":[28],"work":[31],"twofold:":[33],"1)":[34],"Dynamic":[35],"diagram":[37],"used":[39],"for":[40,90,274],"partition":[41,270],"space":[44],"being":[45],"explored":[46],"to":[47,64,75,102,105,157,177,208,216,227,235,254,266,278],"improve":[48,228,255],"efficiency":[50,127,230,257],"exploration,":[53],"then":[55],"new":[57],"parameter-insensitive":[58],"utility":[59],"function":[60],"elaborately":[62],"designed":[63],"evaluate":[65],"information":[67,201],"centroids,":[69],"which":[70],"helps":[71],"guide":[72,106],"robot":[74,108,263],"explore":[76,217,267],"2)":[79],"A":[80],"hierarchical":[81,250],"framework":[82,251],"consisting":[83],"global":[85,97,288],"local":[87,118,290],"windows":[89],"detecting":[91],"designed,":[94],"wherein":[95],"window":[99],"activated":[101],"find":[103],"when":[110],"there":[111],"are":[112,153,214],"no":[113],"in":[115,132,286],"any":[116],"one":[117],"window.":[120],"We":[121],"validate":[122],"feasibility":[124],"various":[133],"complex":[134],"simulation":[135],"scenarios":[136],"challenging":[138],"real-world":[139],"tasks.":[140],"All":[141],"test":[142],"results":[143],"show":[144],"that":[145],"time":[148,237,302],"consumption":[149],"path":[151,304],"cost":[152],"reduced":[154],"by":[155,183,282],"up":[156],"50.7%":[158],"34.4%,":[160],"respectively,":[161],"compared":[162],"an":[164],"advanced":[165],"RRT-based":[166],"approach.":[169],"(Supplementary":[170],"video":[171],"link:":[172],"https://youtu.be/P5jXKlGQOec)":[173],"<italic":[174],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[175],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[176],"Practitioners</i>":[178],"\u2014This":[179],"paper":[180],"motivated":[182],"efficient":[185],"problem.":[189],"some":[191],"applications":[192],"such":[193],"as":[194],"target":[195],"search":[196],"disaster":[198],"rescue,":[199],"about":[202],"environment":[204],"totally":[206],"robots,":[210],"thus":[212],"they":[213],"required":[215],"environments":[219],"autonomously.":[220],"case,":[223],"it":[224,271],"necessary":[226],"due":[234],"limitation":[238],"task":[241],"battery":[244],"capacity.":[245],"exploration.":[261],"Each":[262],"only":[264],"needs":[265],"responsible":[273],"guided":[277],"region":[281],"centroid":[284],"detected":[285],"windows.":[292],"Overall,":[293],"can":[297],"dramatically":[298],"reduce":[299],"cost.":[305]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":15}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
