{"id":"https://openalex.org/W4410737590","doi":"https://doi.org/10.1109/tase.2025.3573814","title":"Conscious Frontier Analysis Model: Learning-Based Path Planning for PointGoal Navigation","display_name":"Conscious Frontier Analysis Model: Learning-Based Path Planning for PointGoal Navigation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410737590","doi":"https://doi.org/10.1109/tase.2025.3573814"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3573814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3573814","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":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022648915","display_name":"Shri Harish Manoharan","orcid":"https://orcid.org/0000-0002-5635-1331"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Shri Harish Manoharan","raw_affiliation_strings":["Department of Electrical Engineering, National Tsing Hua University, Hsinchu, Taiwan","Electrical Engineering Department, National Tsing Hua University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"Electrical Engineering Department, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011532050","display_name":"Wei\u2010Yu Chiu","orcid":"https://orcid.org/0000-0003-2450-9314"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wei-Yu Chiu","raw_affiliation_strings":["School of Information Technology, Deakin University, Melbourne, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"School of Information Technology, Deakin University, Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042036635","display_name":"Chao-Tsung Huang","orcid":"https://orcid.org/0000-0002-9173-520X"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chao-Tsung Huang","raw_affiliation_strings":["Department of Electrical Engineering, National Tsing Hua University, Hsinchu, Taiwan","Electrical Engineering Department, National Tsing Hua University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"Electrical Engineering Department, National Tsing Hua University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I25846049"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022648915"],"corresponding_institution_ids":["https://openalex.org/I25846049"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0950551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"16131","last_page":"16143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9861999750137329,"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":0.9861999750137329,"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/motion-planning","display_name":"Motion planning","score":0.6017951369285583},{"id":"https://openalex.org/keywords/frontier","display_name":"Frontier","score":0.5910590887069702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.563113808631897},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.517667293548584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4700780212879181},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37163668870925903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32661449909210205},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1461193561553955},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09704643487930298}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6017951369285583},{"id":"https://openalex.org/C2778571376","wikidata":"https://www.wikidata.org/wiki/Q1355821","display_name":"Frontier","level":2,"score":0.5910590887069702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.563113808631897},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.517667293548584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4700780212879181},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37163668870925903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32661449909210205},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1461193561553955},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09704643487930298},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2025.3573814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3573814","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:figshare.com:article/29218865","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Journal contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/29218865","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Journal contribution"},"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2005389775","https://openalex.org/W2107667896","https://openalex.org/W2133844819","https://openalex.org/W2194775991","https://openalex.org/W2343533670","https://openalex.org/W2734981231","https://openalex.org/W2784216186","https://openalex.org/W2809054577","https://openalex.org/W2905178987","https://openalex.org/W2916679149","https://openalex.org/W2953127211","https://openalex.org/W2980191612","https://openalex.org/W3009928773","https://openalex.org/W3011646207","https://openalex.org/W3022310485","https://openalex.org/W3146882494","https://openalex.org/W3207581717","https://openalex.org/W3217170181","https://openalex.org/W4206689776","https://openalex.org/W4280590673","https://openalex.org/W4285102272","https://openalex.org/W4296913591","https://openalex.org/W4312896039","https://openalex.org/W4319663642","https://openalex.org/W4319988679","https://openalex.org/W4361997638","https://openalex.org/W4382118807","https://openalex.org/W4384818013","https://openalex.org/W4386075729","https://openalex.org/W4386634158","https://openalex.org/W4388740208","https://openalex.org/W4389252624","https://openalex.org/W4389667118","https://openalex.org/W4392523538","https://openalex.org/W4394698889","https://openalex.org/W4402716113","https://openalex.org/W6753516098","https://openalex.org/W6755934310","https://openalex.org/W6773029903","https://openalex.org/W6774815639","https://openalex.org/W6846871237"],"related_works":["https://openalex.org/W2347401120","https://openalex.org/W2041961361","https://openalex.org/W2310010941","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"The":[0],"objective":[1],"of":[2,102,110,119,140,164,208],"PointGoal":[3,92],"navigation":[4],"is":[5,31],"to":[6,10,24,89,106,112,133,218],"guide":[7],"mobile":[8],"robot":[9],"their":[11],"destination":[12],"in":[13,93,167,233,247],"the":[14,25,77,91,103,108,114,117,122,135,149,156,165,168,193,206,209,212,238],"shortest":[15],"distance":[16],"possible":[17],"without":[18,81],"a":[19,29,39,46,70,98,129,160],"prioir":[20],"map.":[21],"However,":[22],"due":[23],"environment":[26],"uncertainty,":[27],"finding":[28],"solution":[30],"complicated.":[32],"To":[33],"address":[34],"this":[35],"issue,":[36],"we":[37,127,204],"propose":[38],"conscious":[40],"frontier":[41],"analysis":[42],"model":[43,53,78,132,173,184,191,210,222],"based":[44],"on":[45,155,211],"partially":[47],"observable":[48],"Markov":[49],"decision":[50],"process.":[51],"Our":[52],"uses":[54],"synthetic":[55,242],"maps":[56,243],"for":[57,74],"training":[58],"and":[59,65,86,137,181,215,228],"selects":[60],"frontiers":[61,120],"(points":[62],"between":[63],"known":[64],"unknown":[66,94],"areas).":[67],"By":[68],"leveraging":[69],"reinforcement":[71],"learning":[72,182],"framework":[73],"path":[75,166,199],"planning,":[76],"efficiently":[79],"navigates":[80],"prior":[82],"mapping,":[83],"enhancing":[84],"exploration":[85,232],"pathfinding":[87],"capabilities":[88],"reach":[90,113],"environments.":[95,249],"We":[96,143],"utilize":[97],"modified":[99,130],"belief-based":[100],"version":[101],"Bellman":[104],"equation":[105],"assess":[107],"cost":[109,136],"failing":[111],"goal,":[115],"enabling":[116,231],"selection":[118],"with":[121],"least":[123],"associated":[124],"cost.":[125],"Additionally,":[126],"train":[128],"ResNet18":[131],"identify":[134],"valuable":[138],"properties":[139],"each":[141],"frontier.":[142],"evaluated":[144],"our":[145,190],"model\u2019s":[146],"performance":[147],"using":[148],"large-scale":[150],"RGB-D":[151,229],"indoor":[152],"dataset":[153],"Matterport3D":[154],"Habitat":[157,194],"simulator,":[158],"achieving":[159],"90.7%":[161],"successful":[162],"completion":[163],"environment,":[169],"outperforming":[170],"traditional":[171],"frontier-based":[172],"by":[174,179,185,201],"27.9%,":[175],"active":[176],"neural":[177],"SLAM":[178],"14.3%,":[180],"augmented":[183],"2.8%.":[186],"In":[187],"certain":[188],"paths,":[189],"outperformed":[192],"simulator\u2019s":[195],"state-of-the-art":[196],"baseline":[197],"normalized":[198],"length":[200],"3.6%.":[202],"Also,":[203],"reckon":[205],"efficacy":[207],"real":[213],"robot,":[214],"it":[216],"proved":[217],"be":[219],"effective.":[220],"This":[221],"supports":[223],"3D":[224],"Lidar,":[225,227],"2D":[226],"perception,":[230],"complex":[234],"environments":[235],"before":[236],"pinpointing":[237],"goal":[239],"frontier,":[240],"while":[241],"reduce":[244],"sampling":[245],"biases":[246],"new":[248]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
