{"id":"https://openalex.org/W4406858116","doi":"https://doi.org/10.1109/tcds.2025.3531367","title":"SELM: From Efficient Autonomous Exploration to Long-Term Monitoring in Semantic Level","display_name":"SELM: From Efficient Autonomous Exploration to Long-Term Monitoring in Semantic Level","publication_year":2025,"publication_date":"2025-01-27","ids":{"openalex":"https://openalex.org/W4406858116","doi":"https://doi.org/10.1109/tcds.2025.3531367"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2025.3531367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2025.3531367","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","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":null,"display_name":"Fang Lang","orcid":"https://orcid.org/0009-0003-3617-5638"},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fang Lang","raw_affiliation_strings":["Polytechnic Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0003-3617-5638","affiliations":[{"raw_affiliation_string":"Polytechnic Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210132079","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325684","display_name":"Yongsen Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongsen Qin","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0005-1143-0692","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103259876","display_name":"Yinchuan Wang","orcid":"https://orcid.org/0009-0009-1465-6442"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinchuan Wang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0009-1465-6442","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101597404","display_name":"Jin Liu","orcid":"https://orcid.org/0000-0002-5143-2263"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5143-2263","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0001-5780-7284","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074371475","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-0828-7486"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Robotics Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0828-7486","affiliations":[{"raw_affiliation_string":"Robotics Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059414395","display_name":"Qiuguo Zhu","orcid":"https://orcid.org/0000-0002-4965-5126"},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuguo Zhu","raw_affiliation_strings":["Polytechnic Institute, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4965-5126","affiliations":[{"raw_affiliation_string":"Polytechnic Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4210132079","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101645277","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4119-4433","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210132079","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01151802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"4","first_page":"938","last_page":"952"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.7886999845504761,"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"}},"topics":[{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.7886999845504761,"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"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7878000140190125,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10215","display_name":"Semantic Web and Ontologies","score":0.7730000019073486,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.8322567939758301},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.772543728351593},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.3440174162387848}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8322567939758301},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.772543728351593},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.3440174162387848},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2025.3531367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2025.3531367","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2440352957","display_name":null,"funder_award_id":"62473232","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G492650815","display_name":null,"funder_award_id":"U21A20488","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W1995813020","https://openalex.org/W1995875735","https://openalex.org/W1998288905","https://openalex.org/W2041620409","https://openalex.org/W2071906076","https://openalex.org/W2096494978","https://openalex.org/W2107667896","https://openalex.org/W2131774270","https://openalex.org/W2133844819","https://openalex.org/W2144571961","https://openalex.org/W2418877712","https://openalex.org/W2564284889","https://openalex.org/W2564666437","https://openalex.org/W2739348220","https://openalex.org/W2769990600","https://openalex.org/W2915903202","https://openalex.org/W2949138173","https://openalex.org/W2962794880","https://openalex.org/W2975791276","https://openalex.org/W2981615600","https://openalex.org/W3007075806","https://openalex.org/W3035154952","https://openalex.org/W3039925688","https://openalex.org/W3041720538","https://openalex.org/W3096517408","https://openalex.org/W3097090618","https://openalex.org/W3149798409","https://openalex.org/W3170635652","https://openalex.org/W3204231672","https://openalex.org/W3208577479","https://openalex.org/W3214103722","https://openalex.org/W3217015082","https://openalex.org/W4200019319","https://openalex.org/W4200079766","https://openalex.org/W4206422650","https://openalex.org/W4210340130","https://openalex.org/W4225372550","https://openalex.org/W4226236972","https://openalex.org/W4229038794","https://openalex.org/W4235735721","https://openalex.org/W4283332944","https://openalex.org/W4312641466","https://openalex.org/W4364304228","https://openalex.org/W4389665960","https://openalex.org/W4390492413","https://openalex.org/W6631190155","https://openalex.org/W6631991473","https://openalex.org/W6741002519","https://openalex.org/W6786497802","https://openalex.org/W6800673378"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Maintaining":[0],"up-to-date":[1],"environmental":[2,159],"models":[3],"from":[4],"initial":[5,113],"deployment":[6],"through":[7,195],"long-term":[8,44,144],"autonomy":[9],"in":[10,29,130,138],"service":[11],"is":[12],"critical":[13],"for":[14,94,115,179],"applications":[15],"such":[16],"as":[17,147],"navigation":[18],"and":[19,43,91,110,186],"task":[20],"planning.":[21],"To":[22,161],"address":[23],"the":[24,39,50,67,71,80,101,106,127,131,143,148,158,163,167,180,189],"challenges":[25],"of":[26,133,188],"persistent":[27],"monitoring":[28,36,46,119,145],"unknown":[30],"environments,":[31],"we":[32,53,78,165],"introduce":[33,54],"a":[34,55,88],"two-stage":[35],"strategy,":[37],"termed":[38],"semantic-level":[40],"autonomous":[41],"exploration":[42,58,102],"environment":[45,97,112],"(SELM)":[47],"framework.":[48],"In":[49,99],"first":[51],"stage,":[52],"novel":[56],"semantic":[57,68],"method":[59],"to":[60,62,122,125,155],"adapt":[61],"new":[63],"environments":[64],"quickly.":[65],"Leveraging":[66],"information":[69],"within":[70],"incrementally":[72],"constructed":[73],"3-D":[74],"scene":[75],"graph":[76,168],"(3-DSG),":[77],"combine":[79],"next-best-view":[81],"(NBV)":[82],"selection":[83],"with":[84,157],"room":[85,107],"semantics,":[86],"introducing":[87],"more":[89],"efficient":[90],"comprehensive":[92],"approach":[93],"multiroom":[95],"indoor":[96],"exploration.":[98],"addition,":[100],"provides":[103],"patrol":[104,124,182],"routes,":[105],"distance\u2013connectivity":[108],"graph,":[109],"complete":[111],"states":[114],"subsequential":[116],"monitoring.":[117],"The":[118,184],"stage":[120],"aims":[121],"persistently":[123],"update":[126],"world":[128],"model":[129],"presence":[132],"dynamic":[134],"changes,":[135],"including":[136],"changes":[137],"objects\u2019":[139],"positions.":[140],"We":[141],"formulate":[142],"problem":[146],"partially":[149],"observable":[150],"Markov":[151],"decision":[152],"process":[153],"(POMDP)":[154],"cope":[156],"uncertainty.":[160],"solve":[162],"POMDP,":[164],"propose":[166],"attention":[169],"bidirectional":[170],"long":[171],"short-term":[172],"memory":[173],"proximal":[174],"policy":[175],"optimization":[176],"(GABPPO)":[177],"algorithm":[178],"optimal":[181],"strategy.":[183],"feasibility":[185],"effectiveness":[187],"proposed":[190],"SELM":[191],"framework":[192],"are":[193],"verified":[194],"extensive":[196],"experiments.":[197]},"counts_by_year":[],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}
