{"id":"https://openalex.org/W4417201728","doi":"https://doi.org/10.1109/tsmc.2025.3636589","title":"ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments","display_name":"ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments","publication_year":2025,"publication_date":"2025-12-10","ids":{"openalex":"https://openalex.org/W4417201728","doi":"https://doi.org/10.1109/tsmc.2025.3636589"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3636589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3636589","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2512.24680","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113236302","display_name":"Kangjie Zhou","orcid":"https://orcid.org/0009-0005-7363-0809"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Kangjie Zhou","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhaoyang Li","orcid":"https://orcid.org/0009-0002-6072-0870"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoyang Li","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058267936","display_name":"Han Gao","orcid":"https://orcid.org/0000-0003-1633-6652"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Han Gao","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102740429","display_name":"Yao Su","orcid":"https://orcid.org/0000-0001-8375-5692"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Su","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043423420","display_name":"Hangxin Liu","orcid":"https://orcid.org/0000-0002-3003-8611"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangxin Liu","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100353166","display_name":"Chang Liu","orcid":"https://orcid.org/0000-0001-7686-2510"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5113236302"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46983598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"2","first_page":"1024","last_page":"1037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.24709999561309814,"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":0.24709999561309814,"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":0.15389999747276306,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.12880000472068787,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.685699999332428},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5996000170707703},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5906999707221985},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5530999898910522},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.534500002861023},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.48969998955726624},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4553999900817871},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.3952000141143799},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.3912999927997589}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.685699999332428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6031000018119812},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5996000170707703},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5906999707221985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5570999979972839},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5530999898910522},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.534500002861023},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.48969998955726624},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4553999900817871},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4440999925136566},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.3952000141143799},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.3912999927997589},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.3804999887943268},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37610000371932983},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37389999628067017},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3675000071525574},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C2983203078","wikidata":"https://www.wikidata.org/wiki/Q255166","display_name":"Information gain","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.28700000047683716},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.28630000352859497},{"id":"https://openalex.org/C38764148","wikidata":"https://www.wikidata.org/wiki/Q17098245","display_name":"Interaction information","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.2800000011920929},{"id":"https://openalex.org/C113336015","wikidata":"https://www.wikidata.org/wiki/Q574010","display_name":"Complete information","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25270000100135803},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.25220000743865967},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.25060001015663147}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmc.2025.3636589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3636589","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2512.24680","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.24680","pdf_url":"https://arxiv.org/pdf/2512.24680","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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:2512.24680","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.24680","pdf_url":"https://arxiv.org/pdf/2512.24680","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":[],"awards":[{"id":"https://openalex.org/G1726298056","display_name":null,"funder_award_id":"62203018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3068913400","display_name":null,"funder_award_id":"20240484498","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G5524595665","display_name":null,"funder_award_id":"20220484056","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G8513784117","display_name":null,"funder_award_id":"KFZ2410","funder_id":"https://openalex.org/F4320326988","funder_display_name":"State Key Laboratory of Natural Medicines"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326988","display_name":"State Key Laboratory of Natural Medicines","ror":null},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Target":[0],"search":[1,15,33,151,191],"and":[2,16,18,54,74,90,175,193],"tracking":[3,196],"(SAT)":[4],"is":[5],"a":[6,55,65,156],"fundamental":[7],"problem":[8],"for":[9,42,126,137,159],"various":[10],"robotic":[11],"applications":[12],"such":[13],"as":[14],"rescue":[17],"environmental":[19],"exploration.":[20],"This":[21],"article":[22],"proposes":[23],"an":[24],"informative":[25,86],"trajectory":[26,161],"planning":[27,138,162,171],"approach,":[28],"namely,":[29],"reusable":[30,148],"belief":[31,83,149],"tree":[32,150,158],"with":[34,107,185],"sigma":[35,67],"point-based":[36],"mutual":[37,77],"information":[38,53,78],"reward":[39,80],"approximation":[40,70,188],"(ReSPIRe),":[41],"SAT":[43],"in":[44,88,118],"unknown":[45],"cluttered":[46],"environments":[47],"under":[48,81,163],"considerably":[49],"inaccurate":[50],"prior":[51,109],"target":[52,110],"limited":[56],"sensing":[57],"field":[58],"of":[59,98],"view":[60],"(FOV).":[61],"We":[62],"first":[63],"develop":[64,146],"novel":[66],"point":[68],"(SP)-based":[69],"approach":[71,153],"to":[72,93,154,169],"fast":[73],"accurately":[75],"estimate":[76],"(MI)":[79],"non-Gaussian":[82],"distributions,":[84],"utilizing":[85],"sampling":[87],"state":[89],"observation":[91],"spaces":[92],"mitigate":[94],"the":[95,103,114,133,142,147],"computational":[96,201],"intractability":[97],"integral":[99],"calculation.":[100],"To":[101],"tackle":[102],"significant":[104],"uncertainty":[105],"associated":[106],"inadequate":[108],"information,":[111],"we":[112,145],"propose":[113],"hierarchical":[115,143],"particle":[116,134],"structure":[117],"ReSPIRe,":[119],"which":[120,165],"not":[121],"only":[122],"extracts":[123],"critical":[124],"particles":[125],"global":[127],"route":[128],"guidance,":[129],"but":[130],"also":[131],"adjusts":[132],"number":[135],"adaptively":[136],"efficiency.":[139,172,202],"Building":[140],"upon":[141],"structure,":[144],"(RBTS)":[152],"build":[155],"policy":[157],"online":[160],"uncertainty,":[164],"reuses":[166],"rollout":[167],"evaluation":[168],"improve":[170],"Extensive":[173],"simulations":[174],"real-world":[176],"experiments":[177],"demonstrate":[178],"that":[179],"ReSPIRe":[180],"outperforms":[181],"representative":[182],"benchmark":[183],"methods":[184],"smaller":[186],"MI":[187],"error,":[189],"higher":[190],"efficiency,":[192],"more":[194],"stable":[195],"performance,":[197],"while":[198],"maintaining":[199],"outstanding":[200]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-12-10T00:00:00"}
