{"id":"https://openalex.org/W2128140866","doi":"https://doi.org/10.1109/iros.2006.281892","title":"A Configuration Space View of View Planning","display_name":"A Configuration Space View of View Planning","publication_year":2006,"publication_date":"2006-10-01","ids":{"openalex":"https://openalex.org/W2128140866","doi":"https://doi.org/10.1109/iros.2006.281892","mag":"2128140866"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2006.281892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.281892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100724579","display_name":"Pengpeng Wang","orcid":"https://orcid.org/0000-0002-6325-2139"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pengpeng Wang","raw_affiliation_strings":["RAMP Lab, School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada","[School of Engineering Science, Simon Fraser University, Burnaby, BC]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAMP Lab, School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]},{"raw_affiliation_string":"[School of Engineering Science, Simon Fraser University, Burnaby, BC]","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal Gupta","raw_affiliation_strings":["RAMP Lab, School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada","[School of Engineering Science, Simon Fraser University, Burnaby, BC]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAMP Lab, School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]},{"raw_affiliation_string":"[School of Engineering Science, Simon Fraser University, Burnaby, BC]","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I18014758"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"24","issue":null,"first_page":"1291","last_page":"1297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"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/motion-planning","display_name":"Motion planning","score":0.6589076519012451},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6450947523117065},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.5733389854431152},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.507768452167511},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4956446886062622},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4903090298175812},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44353827834129333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38751354813575745},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08915162086486816}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6589076519012451},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6450947523117065},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5733389854431152},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.507768452167511},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4956446886062622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4903090298175812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44353827834129333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38751354813575745},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08915162086486816},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2006.281892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.281892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1534742889","https://openalex.org/W1610930163","https://openalex.org/W1999050017","https://openalex.org/W2039618341","https://openalex.org/W2063187609","https://openalex.org/W2064179002","https://openalex.org/W2071523979","https://openalex.org/W2077754916","https://openalex.org/W2092705708","https://openalex.org/W2099111195","https://openalex.org/W2102029938","https://openalex.org/W2103009569","https://openalex.org/W2109142140","https://openalex.org/W2112423861","https://openalex.org/W2118166339","https://openalex.org/W2128990851","https://openalex.org/W2130618585","https://openalex.org/W2131994932","https://openalex.org/W2140235943","https://openalex.org/W2151521723","https://openalex.org/W2797024182","https://openalex.org/W4299369620","https://openalex.org/W6666651134"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W2104320275","https://openalex.org/W3004930912","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2120794627","https://openalex.org/W2112736381","https://openalex.org/W2106317420","https://openalex.org/W2107702345"],"abstract_inverted_index":{"For":[0],"sensor-based":[1],"robot":[2,39,45],"motion":[3,19],"planning,":[4],"view":[5,86,186],"planning":[6,10,20,87,187],"problem":[7],"refers":[8],"to":[9,15,51,91,142,146,165,206],"the":[11,18,47,54,60,143,148,154,166,192,207,216,233],"next":[12,48],"sensing":[13,49,110],"action":[14,50,150],"further":[16],"facilitate":[17],"task.":[21],"In":[22,129],"Y.":[23],"Yu":[24],"and":[25,160,188],"K.":[26],"Gupta":[27],"(2004),":[28],"C-space":[29,56,79,101,115,173,230],"entropy":[30,63],"was":[31,69],"introduced":[32],"as":[33,90],"a":[34,100,199],"measure":[35],"of":[36,38,106,136,158,169,183,202,237],"knowledge":[37],"configuration":[40],"space,":[41],"or":[42,65],"C-space.":[43],"The":[44],"plans":[46],"maximally":[52],"reduce":[53],"expected":[55,62],"entropy,":[57],"also":[58,213],"called":[59],"maximal":[61],"reduction,":[64],"MER":[66,72,103,193],"criterion.":[67,194],"It":[68],"shown":[70],"that":[71,198,215],"criterion":[73,104],"resulted":[74],"in":[75,96,114,122,151,226],"much":[76,135,162],"more":[77,228],"efficient":[78,229],"exploration":[80,231],"performance":[81,139],"than":[82],"physical":[83,94],"space":[84],"based":[85,174,221],"criteria,":[88],"such":[89],"maximize":[92],"unknown":[93],"volume":[95],"each":[97],"view.":[98],"From":[99],"perspective,":[102],"consists":[105],"two":[107],"important":[108],"aspects:":[109],"actions":[111],"are":[112,120,179],"evaluated":[113,121],"(geometric":[116],"aspect);":[117],"these":[118],"effects":[119],"an":[123],"information":[124],"theoretical":[125],"sense":[126],"(stochastic":[127],"aspect).":[128],"this":[130,137],"paper,":[131],"we":[132,212],"investigate":[133],"how":[134,161],"better":[138],"is":[140,163,204],"attributable":[141,164,205],"paradigmatic":[144],"shift":[145],"evaluating":[147],"sensor":[149],"C-space,":[152],"i.e.,":[153],"pure":[155,175,208,234],"geometric":[156,176,181,209,235],"component":[157,236],"MER,":[159],"stochastic":[167,217],"aspect":[168,182],"MER.":[170,238],"We":[171,195,239],"propose":[172],"criteria":[177],"(which":[178],"essentially":[180],"MER)":[184],"for":[185,242],"compare":[189],"them":[190],"with":[191],"empirically":[196],"show":[197,214],"great":[200],"deal":[201],"efficiency":[203],"aspect;":[210],"however,":[211],"aspect,":[218],"despite":[219],"being":[220],"on":[222],"simple":[223],"assumptions,":[224],"result":[225],"moderately":[227],"over":[232],"outline":[240],"explanations":[241],"our":[243],"findings":[244]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}