{"id":"https://openalex.org/W3191708223","doi":"https://doi.org/10.1109/ur52253.2021.9494668","title":"Information-Based Heuristics for Learned Goal-Driven Exploration and Mapping","display_name":"Information-Based Heuristics for Learned Goal-Driven Exploration and Mapping","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3191708223","doi":"https://doi.org/10.1109/ur52253.2021.9494668","mag":"3191708223"},"language":"en","primary_location":{"id":"doi:10.1109/ur52253.2021.9494668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494668","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5042000027","display_name":"Reinis Cimurs","orcid":"https://orcid.org/0000-0002-9256-6655"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Reinis Cimurs","raw_affiliation_strings":["Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030410269","display_name":"Il Hong Suh","orcid":"https://orcid.org/0000-0002-0981-329X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Il Hong Suh","raw_affiliation_strings":["Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112648083","display_name":"Jin Han Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jin Han Lee","raw_affiliation_strings":["Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042000027"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.4803,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.64746732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"571","last_page":"578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983999729156494,"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/heuristics","display_name":"Heuristics","score":0.8726015090942383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.73967444896698},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.64821457862854},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6335614919662476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5895079970359802},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.541500449180603},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5008041858673096},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4913252890110016},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4766543507575989},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07716226577758789}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.8726015090942383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.73967444896698},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.64821457862854},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6335614919662476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5895079970359802},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.541500449180603},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5008041858673096},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4913252890110016},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4766543507575989},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07716226577758789},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1109/ur52253.2021.9494668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494668","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W8369482","https://openalex.org/W1484555300","https://openalex.org/W1966213627","https://openalex.org/W1994965908","https://openalex.org/W1999531254","https://openalex.org/W2107667896","https://openalex.org/W2121734178","https://openalex.org/W2136980446","https://openalex.org/W2346822594","https://openalex.org/W2515498963","https://openalex.org/W2771728020","https://openalex.org/W2787938642","https://openalex.org/W2799058090","https://openalex.org/W2883180136","https://openalex.org/W2907636777","https://openalex.org/W2910054127","https://openalex.org/W2914585051","https://openalex.org/W2919358988","https://openalex.org/W2930578544","https://openalex.org/W2933132318","https://openalex.org/W2963923407","https://openalex.org/W2980995577","https://openalex.org/W3003533476","https://openalex.org/W3009567234","https://openalex.org/W3016718773","https://openalex.org/W3040041096","https://openalex.org/W3093374227","https://openalex.org/W3095339682","https://openalex.org/W3102804550","https://openalex.org/W3120538221","https://openalex.org/W3126672009","https://openalex.org/W3127561923","https://openalex.org/W3136328095","https://openalex.org/W6600356965","https://openalex.org/W6678073246","https://openalex.org/W6729319880","https://openalex.org/W6748839928","https://openalex.org/W6773319185","https://openalex.org/W6780443396","https://openalex.org/W6782064050","https://openalex.org/W6791393114"],"related_works":["https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W3177062893","https://openalex.org/W3125143773","https://openalex.org/W2007032764","https://openalex.org/W803550684","https://openalex.org/W2483226803","https://openalex.org/W4352977312","https://openalex.org/W1536056491","https://openalex.org/W2041180560"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,16,28],"novel":[6],"heuristics":[7],"function":[8,33],"for":[9],"evaluating":[10],"and":[11,20,47,57,93],"selecting":[12],"intermediate":[13,72],"points":[14],"in":[15,86,91],"goal-driven":[17],"autonomous":[18],"exploration":[19],"mapping":[21],"system":[22,78],"where":[23],"navigation":[24,77],"is":[25,67],"performed":[26],"by":[27],"learned":[29],"neural":[30],"network.":[31],"The":[32,61],"calculation":[34],"takes":[35],"into":[36],"consideration":[37],"the":[38,42,54,58,64,70,76,83,97,100],"training":[39],"setting":[40],"of":[41,99],"deep":[43],"reinforcement":[44],"learning-based":[45],"network":[46],"combines":[48],"it":[49],"with":[50,63],"distance":[51],"information":[52],"towards":[53,82],"global":[55,84],"goal":[56,85],"map":[59],"information.":[60],"candidate":[62,106],"minimum":[65],"score":[66],"selected":[68],"as":[69],"current":[71],"goal.":[73],"This":[74],"allows":[75],"to":[79],"be":[80],"guided":[81],"an":[87],"informed":[88],"manner.":[89],"Experiments":[90],"simulation":[92],"real-world":[94],"settings":[95],"show":[96],"benefit":[98],"proposed":[101],"approach":[102],"over":[103],"similar":[104],"heuristic":[105],"point":[107],"evaluation":[108],"methods.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
