{"id":"https://openalex.org/W2791288858","doi":"https://doi.org/10.1142/s0219843618500159","title":"Active Tactile Exploration Based on Cost-Aware Information Gain Maximization","display_name":"Active Tactile Exploration Based on Cost-Aware Information Gain Maximization","publication_year":2018,"publication_date":"2018-02-01","ids":{"openalex":"https://openalex.org/W2791288858","doi":"https://doi.org/10.1142/s0219843618500159","mag":"2791288858"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843618500159","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843618500159","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5065628082","display_name":"Simon Ottenhaus","orcid":"https://orcid.org/0000-0002-2904-6841"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Simon Ottenhaus","raw_affiliation_strings":["Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079771987","display_name":"Lukas Kaul","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lukas Kaul","raw_affiliation_strings":["Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056275572","display_name":"Nikolaus Vahrenkamp","orcid":"https://orcid.org/0000-0002-9304-9107"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikolaus Vahrenkamp","raw_affiliation_strings":["Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4879-7680","affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics (IAR), Karslruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065628082"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4343,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.8920377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"15","issue":"01","first_page":"1850015","last_page":"1850015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"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":0.9957000017166138,"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":0.9921000003814697,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9866999983787537,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8533604741096497},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6548865437507629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6208633780479431},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5660965442657471},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.565540075302124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5599321126937866},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5399681329727173},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.4980044364929199},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38637155294418335},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.07743331789970398}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8533604741096497},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6548865437507629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6208633780479431},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5660965442657471},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.565540075302124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5599321126937866},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5399681329727173},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.4980044364929199},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38637155294418335},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.07743331789970398},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843618500159","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843618500159","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311048","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"},{"id":"https://openalex.org/F4320322999","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2074936002","https://openalex.org/W2099454597","https://openalex.org/W2108889042","https://openalex.org/W2112714380","https://openalex.org/W2141191968","https://openalex.org/W2343440602","https://openalex.org/W2518197379","https://openalex.org/W2551421619","https://openalex.org/W2587878520","https://openalex.org/W2606880746","https://openalex.org/W2773348725","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W2766932195","https://openalex.org/W2975200075","https://openalex.org/W2007544051","https://openalex.org/W2112002268","https://openalex.org/W1837097281","https://openalex.org/W1966410754","https://openalex.org/W2295869952","https://openalex.org/W1996490590","https://openalex.org/W2363840281","https://openalex.org/W2325242284"],"abstract_inverted_index":{"Active":[0],"tactile":[1,51,67,181],"perception":[2],"is":[3,145],"a":[4,17,71],"powerful":[5],"mechanism":[6],"to":[7,22,41,102,109,157],"collect":[8],"contact":[9,52,76,83],"information":[10,77,106,137],"by":[11],"touching":[12],"an":[13,90],"unknown":[14],"object":[15,28,36,43,62,153],"with":[16,26],"robot":[18,72],"finger":[19,73],"in":[20,100,147,179],"order":[21,101],"enable":[23],"further":[24],"interaction":[25],"the":[27,32,59,82,95,104,111,119,132,135,166,169],"or":[29],"grasping":[30],"of":[31,61,114,134,168],"object.":[33],"The":[34,141,163],"acquired":[35],"knowledge":[37],"can":[38],"be":[39],"used":[40],"build":[42],"shape":[44,63],"models":[45,154],"based":[46],"on":[47],"such":[48],"usually":[49],"sparse":[50,66],"information.":[53],"In":[54],"this":[55,86],"paper,":[56],"we":[57,88],"address":[58],"problem":[60],"reconstruction":[64],"from":[65,70],"data":[68],"gained":[69],"that":[74],"yields":[75],"and":[78,108,155,175],"surface":[79],"orientation":[80],"at":[81],"points.":[84],"To":[85],"end,":[87],"present":[89],"exploration":[91,115,143,161,172],"algorithm":[92],"which":[93,125],"determines":[94],"next":[96],"best":[97],"touch":[98],"target":[99],"maximize":[103],"estimated":[105],"gain":[107,138],"minimize":[110],"expected":[112],"costs":[113],"actions.":[116],"We":[117],"introduce":[118],"Information":[120],"Gain":[121],"Estimation":[122],"Function":[123],"(IGEF),":[124],"combines":[126],"different":[127],"goals":[128],"as":[129],"measure":[130],"for":[131,177],"quantification":[133],"cost-aware":[136],"during":[139],"exploration.":[140],"IGEF-based":[142],"strategy":[144],"validated":[146],"simulation":[148],"using":[149],"48":[150],"publicly":[151],"available":[152],"compared":[156],"state-of-the-art":[158],"Gaussian":[159],"processes-based":[160],"approaches.":[162],"results":[164],"show":[165],"performance":[167],"approach":[170],"regarding":[171],"efficiency,":[173],"cost-awareness":[174],"suitability":[176],"application":[178],"real":[180],"sensing":[182],"scenarios.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}