{"id":"https://openalex.org/W4384818013","doi":"https://doi.org/10.1126/scirobotics.adf0970","title":"Representation granularity enables time-efficient autonomous exploration in large, complex worlds","display_name":"Representation granularity enables time-efficient autonomous exploration in large, complex worlds","publication_year":2023,"publication_date":"2023-07-12","ids":{"openalex":"https://openalex.org/W4384818013","doi":"https://doi.org/10.1126/scirobotics.adf0970","pmid":"https://pubmed.ncbi.nlm.nih.gov/37467309"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adf0970","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adf0970","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5101438365","display_name":"Chao Cao","orcid":"https://orcid.org/0000-0002-4192-7641"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"C. Cao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076243227","display_name":"Hongbiao Zhu","orcid":"https://orcid.org/0000-0002-1227-4047"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Zhu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384130","display_name":"Zhaochun Ren","orcid":"https://orcid.org/0000-0002-9076-6565"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. Ren","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067202248","display_name":"Howie Choset","orcid":"https://orcid.org/0000-0002-2266-8744"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Choset","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061362384","display_name":"Ji Zhang","orcid":"https://orcid.org/0000-0002-4692-5645"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Zhang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101438365"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":7.2449,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.98074037,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"80","first_page":"eadf0970","last_page":"eadf0970"},"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":0.9998000264167786,"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":0.9944999814033508,"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/granularity","display_name":"Granularity","score":0.8887584209442139},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7130007147789001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5819292068481445},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3525848388671875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34613046050071716},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13372713327407837}],"concepts":[{"id":"https://openalex.org/C177774035","wikidata":"https://www.wikidata.org/wiki/Q1246948","display_name":"Granularity","level":2,"score":0.8887584209442139},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7130007147789001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5819292068481445},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3525848388671875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34613046050071716},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13372713327407837},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adf0970","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adf0970","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:37467309","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37467309","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1535179827","https://openalex.org/W1684737195","https://openalex.org/W1751505773","https://openalex.org/W1965115711","https://openalex.org/W1971086298","https://openalex.org/W1979426194","https://openalex.org/W1988255929","https://openalex.org/W2004615287","https://openalex.org/W2028590588","https://openalex.org/W2032144264","https://openalex.org/W2032839108","https://openalex.org/W2047820376","https://openalex.org/W2058626008","https://openalex.org/W2064209160","https://openalex.org/W2066005785","https://openalex.org/W2079987671","https://openalex.org/W2089344586","https://openalex.org/W2092507038","https://openalex.org/W2098813345","https://openalex.org/W2104969271","https://openalex.org/W2109405343","https://openalex.org/W2110824994","https://openalex.org/W2111563176","https://openalex.org/W2133099834","https://openalex.org/W2136478830","https://openalex.org/W2143864104","https://openalex.org/W2149450544","https://openalex.org/W2149619235","https://openalex.org/W2151887427","https://openalex.org/W2160890714","https://openalex.org/W2167340365","https://openalex.org/W2198304949","https://openalex.org/W2409009991","https://openalex.org/W2561839189","https://openalex.org/W2564666437","https://openalex.org/W2794292089","https://openalex.org/W2888422218","https://openalex.org/W2911679274","https://openalex.org/W2962787639","https://openalex.org/W2963054668","https://openalex.org/W2964339842","https://openalex.org/W2965804373","https://openalex.org/W3016754278","https://openalex.org/W3040633165","https://openalex.org/W3080178290","https://openalex.org/W3090360675","https://openalex.org/W3092987314","https://openalex.org/W3097090618","https://openalex.org/W3121675905","https://openalex.org/W3134070994","https://openalex.org/W3176634028","https://openalex.org/W3207581717","https://openalex.org/W4200599629","https://openalex.org/W4283786666","https://openalex.org/W4286367218","https://openalex.org/W4292604000","https://openalex.org/W4391794847","https://openalex.org/W7075748724"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2931688134","https://openalex.org/W2377919138","https://openalex.org/W2378857091","https://openalex.org/W4256502920","https://openalex.org/W103652678","https://openalex.org/W2999756192","https://openalex.org/W4226090359","https://openalex.org/W2166690231","https://openalex.org/W2950637221"],"abstract_inverted_index":{"We":[0,39,152],"propose":[1],"a":[2,18,28,131,162],"dual-resolution":[3],"scheme":[4,16,156],"to":[5,83,93,106,147,222],"achieve":[6],"time-efficient":[7],"autonomous":[8],"exploration":[9,159,208,245],"with":[10,139,161,168,184,220],"one":[11],"or":[12],"many":[13],"robots.":[14,110,224],"The":[15,57,86],"maintains":[17],"high-resolution":[19,52,58],"local":[20,59,74],"map":[21,31,60,75,89],"of":[22,32,36,44,54,116],"the":[23,33,37,42,55,63,66,73,80,91,95,109,114,145,155,169,234,240],"robot's":[24],"immediate":[25],"vicinity":[26],"and":[27,51,71,98,103,122,197,238,242],"low-resolution":[29,87],"global":[30,88],"remaining":[34],"areas":[35],"environment.":[38],"believe":[40],"that":[41,62,154],"strength":[43,115],"our":[45,177,203,229],"approach":[46,118,149],"lies":[47],"in":[48,69,165,192,214,233],"this":[49,117],"low-":[50],"representation":[53],"environment:":[56],"ensures":[61],"robots":[64,138,146],"observe":[65],"entire":[67],"region":[68],"detail,":[70],"because":[72],"is":[76,79],"bounded,":[77],"so":[78],"computation":[81,102],"burden":[82],"process":[84],"it.":[85],"directs":[90,144],"robot":[92],"explore":[94],"broad":[96],"space":[97],"only":[99],"requires":[100],"lightweight":[101],"low":[104],"bandwidth":[105],"communicate":[107],"among":[108,137,246],"This":[111,142],"paper":[112],"shows":[113],"for":[119,134,174],"both":[120],"single-robot":[121,175],"multirobot":[123,126,201],"exploration.":[124],"For":[125,200],"exploration,":[127,176,202],"we":[128,226],"also":[129],"introduce":[130],"\"pursuit\"":[132],"strategy":[133,143,205],"sharing":[135],"information":[136],"limited":[140],"communication.":[141],"opportunistically":[148],"each":[150],"other.":[151],"found":[153],"could":[157],"produce":[158],"paths":[160],"bounded":[163],"difference":[164],"length":[166],"compared":[167],"theoretical":[170],"shortest":[171],"paths.":[172],"Empirically,":[173],"method":[178,230],"produced":[179],"80%":[180],"higher":[181,207],"time":[182,209],"efficiency":[183,210],"50%":[185],"lower":[186],"computational":[187],"runtimes":[188],"than":[189,194,211,216],"state-of-the-art":[190],"methods":[191],"more":[193,215],"300":[195],"simulation":[196,218],"real-world":[198],"experiments.":[199],"pursuit":[204],"demonstrated":[206,239],"conventional":[212],"strategies":[213],"3400":[217],"runs":[219],"up":[221],"20":[223],"Last,":[225],"discuss":[227],"how":[228],"was":[231],"deployed":[232],"DARPA":[235],"Subterranean":[236],"Challenge":[237],"fastest":[241],"most":[243],"complete":[244],"all":[247],"teams.":[248]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":37},{"year":2024,"cited_by_count":19}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}