{"id":"https://openalex.org/W3197437553","doi":"https://doi.org/10.1109/tro.2022.3182487","title":"Active Multiobject Exploration and Recognition via Tactile Whiskers","display_name":"Active Multiobject Exploration and Recognition via Tactile Whiskers","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W3197437553","doi":"https://doi.org/10.1109/tro.2022.3182487","mag":"3197437553"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3182487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3182487","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.03976","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031386948","display_name":"Chenxi Xiao","orcid":"https://orcid.org/0000-0002-7819-9633"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chenxi Xiao","raw_affiliation_strings":["School of Industrial Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-7819-9633","affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083996071","display_name":"Shujia Xu","orcid":"https://orcid.org/0000-0002-3173-8249"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shujia Xu","raw_affiliation_strings":["School of Industrial Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-3173-8249","affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057989682","display_name":"Wenzhuo Wu","orcid":"https://orcid.org/0000-0003-0362-6650"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhuo Wu","raw_affiliation_strings":["School of Industrial Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0003-0362-6650","affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072528523","display_name":"Juan Wachs","orcid":"https://orcid.org/0000-0002-6425-5745"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Wachs","raw_affiliation_strings":["School of Industrial Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-6425-5745","affiliations":[{"raw_affiliation_string":"School of Industrial Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":1.9637,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.85024453,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"38","issue":"6","first_page":"3479","last_page":"3497"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9925000071525574,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9925000071525574,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9873999953269958,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.737125813961029},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6357700824737549},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.627695620059967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.627098798751831},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5476769208908081},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47208282351493835},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45374733209609985},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.4269619584083557},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.4229680001735687},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.2757757306098938}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.737125813961029},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6357700824737549},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.627695620059967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.627098798751831},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5476769208908081},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47208282351493835},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45374733209609985},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.4269619584083557},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.4229680001735687},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2757757306098938},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3182487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3182487","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2109.03976","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.03976","pdf_url":"https://arxiv.org/pdf/2109.03976","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.03976","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.03976","pdf_url":"https://arxiv.org/pdf/2109.03976","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G2196561848","display_name":null,"funder_award_id":"NSF NRI 1925194","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G2447063531","display_name":null,"funder_award_id":"2140612","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":110,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W131069610","https://openalex.org/W1527633047","https://openalex.org/W1531715726","https://openalex.org/W1538315967","https://openalex.org/W1555601014","https://openalex.org/W1581953684","https://openalex.org/W1583231601","https://openalex.org/W1586292627","https://openalex.org/W1964183296","https://openalex.org/W1965953026","https://openalex.org/W1970495039","https://openalex.org/W1971086298","https://openalex.org/W1979844734","https://openalex.org/W1983309556","https://openalex.org/W1984070655","https://openalex.org/W1993866154","https://openalex.org/W1995642384","https://openalex.org/W2001408743","https://openalex.org/W2014972957","https://openalex.org/W2016930536","https://openalex.org/W2021683594","https://openalex.org/W2034939775","https://openalex.org/W2048450448","https://openalex.org/W2054854590","https://openalex.org/W2057575383","https://openalex.org/W2066291790","https://openalex.org/W2078011655","https://openalex.org/W2078528918","https://openalex.org/W2080317558","https://openalex.org/W2095689449","https://openalex.org/W2108082645","https://openalex.org/W2115846099","https://openalex.org/W2117403292","https://openalex.org/W2124386111","https://openalex.org/W2128681845","https://openalex.org/W2131341196","https://openalex.org/W2143996311","https://openalex.org/W2148663025","https://openalex.org/W2151520471","https://openalex.org/W2151631165","https://openalex.org/W2161123599","https://openalex.org/W2163032586","https://openalex.org/W2166402585","https://openalex.org/W2170545853","https://openalex.org/W2258457661","https://openalex.org/W2262188337","https://openalex.org/W2276141055","https://openalex.org/W2322535512","https://openalex.org/W2524448901","https://openalex.org/W2542262075","https://openalex.org/W2560609797","https://openalex.org/W2565250676","https://openalex.org/W2567969112","https://openalex.org/W2576345622","https://openalex.org/W2620408778","https://openalex.org/W2745797847","https://openalex.org/W2747605198","https://openalex.org/W2751815445","https://openalex.org/W2772341554","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2785516693","https://openalex.org/W2788109308","https://openalex.org/W2791288858","https://openalex.org/W2892010946","https://openalex.org/W2893042190","https://openalex.org/W2898585858","https://openalex.org/W2903503165","https://openalex.org/W2903932337","https://openalex.org/W2912920267","https://openalex.org/W2945624755","https://openalex.org/W2949888647","https://openalex.org/W2963263790","https://openalex.org/W2963309529","https://openalex.org/W2963765355","https://openalex.org/W2963820385","https://openalex.org/W2967364851","https://openalex.org/W2972694654","https://openalex.org/W2973864946","https://openalex.org/W3000711072","https://openalex.org/W3008303301","https://openalex.org/W3028353485","https://openalex.org/W3035256751","https://openalex.org/W3035820452","https://openalex.org/W3047400633","https://openalex.org/W3086651013","https://openalex.org/W3091460860","https://openalex.org/W3091749147","https://openalex.org/W3100818121","https://openalex.org/W3100948105","https://openalex.org/W3101139490","https://openalex.org/W3102987220","https://openalex.org/W3105350418","https://openalex.org/W3118409809","https://openalex.org/W3124229194","https://openalex.org/W3133435403","https://openalex.org/W3190924824","https://openalex.org/W3204982605","https://openalex.org/W3207896823","https://openalex.org/W4229740934","https://openalex.org/W4239269065","https://openalex.org/W4255367522","https://openalex.org/W6601271567","https://openalex.org/W6605295560","https://openalex.org/W6631359129","https://openalex.org/W6694599239","https://openalex.org/W6756192075","https://openalex.org/W6763422710","https://openalex.org/W6764988152"],"related_works":["https://openalex.org/W2659967915","https://openalex.org/W2968697781","https://openalex.org/W4280558152","https://openalex.org/W2587349145","https://openalex.org/W3044219292","https://openalex.org/W1572125920","https://openalex.org/W2397232755","https://openalex.org/W2497263329","https://openalex.org/W2466077980","https://openalex.org/W3160703663"],"abstract_inverted_index":{"Robotic":[0],"exploration":[1,65,105],"under":[2],"uncertain":[3],"environments":[4],"is":[5,10,57],"challenging":[6],"when":[7],"optical":[8],"information":[9,48],"not":[11],"available.":[12],"In":[13],"this":[14],"article,":[15],"we":[16],"propose":[17],"an":[18,23,144],"autonomous":[19],"solution":[20],"of":[21,111],"exploring":[22],"unknown":[24],"task":[25],"space":[26],"based":[27,38,133],"on":[28,39,75,134],"tactile":[29,70,80,153],"sensing":[30],"alone.":[31],"We":[32],"first":[33],"designed":[34],"a":[35,60,76,84,93],"whisker":[36,141,148],"sensor":[37,44,56],"MEMS":[40],"barometer":[41],"devices.":[42],"This":[43,55,72],"can":[45,107,155],"acquire":[46],"contact":[47],"by":[49,59,67,119,139],"interacting":[50],"with":[51,151],"the":[52,103,109,130,135,140,147,152],"environment":[53],"nonintrusively.":[54],"accompanied":[58],"planning":[61],"technique":[62,73],"to":[63,128,160],"generate":[64],"trajectories":[66],"using":[68],"mere":[69],"perception.":[71],"relies":[74],"hybrid":[77,104],"policy":[78,106],"for":[79,89,97],"exploration,":[81],"which":[82],"includes":[83],"proactive":[85],"informative":[86],"path":[87],"planner":[88],"object":[90,112,131],"searching,":[91],"and":[92,122],"reactive":[94],"Hopf":[95],"oscillator":[96],"contour":[98],"tracing.":[99],"Results":[100],"indicate":[101],"that":[102],"increase":[108],"efficiency":[110],"discovery.":[113],"Last,":[114],"scene":[115],"understanding":[116],"was":[117,126],"facilitated":[118],"segmenting":[120],"objects":[121],"classification.":[123],"A":[124],"classifier":[125],"developed":[127],"recognize":[129],"categories":[132],"geometric":[136],"features":[137,159],"collected":[138],"sensor.":[142],"Such":[143],"approach":[145],"demonstrates":[146],"sensor,":[149],"together":[150],"intelligence,":[154],"provide":[156],"sufficiently":[157],"discriminative":[158],"distinguish":[161],"objects.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}