{"id":"https://openalex.org/W2089437550","doi":"https://doi.org/10.1177/0278364902021010834","title":"Navigation Strategies for Exploring Indoor Environments","display_name":"Navigation Strategies for Exploring Indoor Environments","publication_year":2002,"publication_date":"2002-10-01","ids":{"openalex":"https://openalex.org/W2089437550","doi":"https://doi.org/10.1177/0278364902021010834","mag":"2089437550"},"language":"en","primary_location":{"id":"doi:10.1177/0278364902021010834","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364902021010834","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5077759665","display_name":"H\u00e9ctor H. Gonz\u00e1lez-Ba\u00f1os","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H\u00e9ctor H. Gonz\u00e1lez-Ba\u00f1os","raw_affiliation_strings":["Honda R&D, Americas 800 California St. Suite 300 Mountain View, CA 94041, USA","Honda R&D, Americas 800 California St. Suite 300 Mountain View, CA 94041, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&D, Americas 800 California St. Suite 300 Mountain View, CA 94041, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"Honda R&D, Americas 800 California St. Suite 300 Mountain View, CA 94041, USA#TAB#","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114247093","display_name":"Jean\u2010Claude Latombe","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jean-Claude Latombe","raw_affiliation_strings":["Department of Computer Science Stanford University Stanford, CA 94305, USA","Department of Computer Science, Stanford University, Stanford CA 94305, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science Stanford University Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford CA 94305, USA#TAB#","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077759665","https://openalex.org/A5114247093"],"corresponding_institution_ids":["https://openalex.org/I4210145184","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":197.7775,"has_fulltext":false,"cited_by_count":454,"citation_normalized_percentile":{"value":0.99954773,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"21","issue":"10-11","first_page":"829","last_page":"848"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9997000098228455,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/mobile-robot","display_name":"Mobile robot","score":0.6898961663246155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6889182329177856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6614209413528442},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6426683664321899},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6277798414230347},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5907914042472839},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5429778099060059},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5151109099388123},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4679955840110779},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38244524598121643},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2270411252975464}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6898961663246155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6889182329177856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6614209413528442},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6426683664321899},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6277798414230347},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5907914042472839},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5429778099060059},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5151109099388123},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4679955840110779},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38244524598121643},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2270411252975464}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364902021010834","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364902021010834","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W132968910","https://openalex.org/W198791017","https://openalex.org/W206784943","https://openalex.org/W1485262373","https://openalex.org/W1513117905","https://openalex.org/W1545851874","https://openalex.org/W1546370975","https://openalex.org/W1555315596","https://openalex.org/W1555471913","https://openalex.org/W1557739567","https://openalex.org/W1599888605","https://openalex.org/W1973307935","https://openalex.org/W1990012555","https://openalex.org/W2009422376","https://openalex.org/W2016123536","https://openalex.org/W2063966660","https://openalex.org/W2096268286","https://openalex.org/W2099980352","https://openalex.org/W2109749443","https://openalex.org/W2113739894","https://openalex.org/W2116716918","https://openalex.org/W2131136487","https://openalex.org/W2143864104","https://openalex.org/W2156153879","https://openalex.org/W2158057652","https://openalex.org/W2159477781","https://openalex.org/W2160333330","https://openalex.org/W2168210109","https://openalex.org/W2170120409","https://openalex.org/W2212656715","https://openalex.org/W2502636724","https://openalex.org/W2986240932","https://openalex.org/W4210777595","https://openalex.org/W4242811155","https://openalex.org/W4252017042","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W1750372561","https://openalex.org/W2562628082","https://openalex.org/W1501082329","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2134716234"],"abstract_inverted_index":{"In":[0,19,299,361],"this":[1,126,258,300,348],"paper,":[2],"we":[3,260,302],"investigate":[4],"safe":[5,198,266,292,329],"and":[6,17,44,65,72,150,175,207,213,230,365],"efficient":[7],"map-building":[8,103],"strategies":[9],"for":[10],"a":[11,22,26,34,60,138,254,265,291,353,373,377],"mobile":[12,179,247],"robot":[13,23,40,116,136,317,402],"with":[14,25,356],"imperfect":[15],"control":[16],"sensing.":[18],"the":[20,42,46,52,57,69,77,82,88,98,102,108,115,121,135,147,153,167,181,205,219,231,262,270,282,310,315,328,335,341,344,357,362,381,385,398,401,408],"implementation,":[21],"equipped":[24],"range":[27,212],"sensor":[28,58,208,283,295],"builds":[29,45,376],"apolygonal":[30],"map":[31,47,91,109,378],"(layout)":[32],"of":[33,101,140,152,189,204,239,264,279,290,338,384,400],"previously":[35],"unknown":[36],"indoor":[37],"environment.":[38],"The":[39,215,288,322],"explores":[41],"environment":[43,206],"concurrently":[48],"by":[49,56,185,379],"patching":[50],"together":[51],"local":[53,228,345],"models":[54],"acquired":[55],"into":[59,87,297],"global":[61,359],"map.":[62,360],"A":[63],"well-studied":[64],"related":[66],"problem":[67,170,182],"is":[68,79,120,131,164,183,195,218,274,325],"simultaneous":[70],"localization":[71],"mapping":[73],"(SLAM)":[74],"problem,":[75],"where":[76,113,143],"goal":[78],"to":[80,133,146,166,196,221,236,246,276,313,333,406],"integrate":[81],"information":[83,154,339],"collected":[84],"during":[85],"navigation":[86,199,399],"most":[89],"accurate":[90],"possible.":[92],"However,":[93,177],"SLAM":[94,366,374],"does":[95],"not":[96],"address":[97,250],"sensor-placement":[99],"portion":[100],"task.":[104],"That":[105],"is,":[106],"given":[107,281],"built":[110],"so":[111,286],"far,":[112],"should":[114,368],"go":[117],"next?":[118],"This":[119,163],"main":[122],"question":[123],"addressed":[124],"in":[125,172,178,211,234,253,257,331],"paper.":[127],"Concretely,":[128],"an":[129,201,305,389],"algorithm":[130,307,375],"proposed":[132,395],"guide":[134],"through":[137,403],"series":[139],"\u201cgood\u201d":[141,144],"positions,":[142],"refers":[145],"expected":[148,336],"amount":[149],"quality":[151],"that":[155,273,308,343,394],"will":[156],"be":[157,277],"revealed":[158],"at":[159,319,347],"each":[160,226,320,370],"new":[161,227,323,349],"location.":[162],"similar":[165],"next-best-view":[168],"(NBV)":[169],"studied":[171],"computer":[173],"vision":[174],"graphics.":[176],"robotics":[180],"complicated":[184],"several":[186],"issues,":[187],"two":[188],"which":[190],"are":[191],"particularly":[192],"crucial.":[193],"One":[194],"achieve":[197],"despite":[200],"incomplete":[202],"knowledge":[203],"limitations":[209,296],"(e.g.,":[210],"incidence).":[214],"other":[216],"issue":[217],"need":[220],"ensure":[222],"sufficient":[223],"overlap":[224,355],"between":[225],"model":[229,346],"current":[232,358],"map,":[233],"order":[235,332],"allow":[237],"registration":[238],"successive":[240],"views":[241],"under":[242,340],"positioning":[243],"uncertainties":[244],"inherent":[245],"robots.":[248],"To":[249],"both":[251],"issues":[252],"coherent":[255],"framework,":[256],"paper":[259,301],"introduce":[261],"concept":[263,312],"region,":[267],"defined":[268],"as":[269,393],"largest":[271],"region":[272,293,330],"guaranteed":[275],"free":[278],"obstacles":[280],"readings":[284],"made":[285],"far.":[287],"construction":[289],"takes":[294],"account.":[298],"also":[303],"describe":[304],"NBV":[306,364,390],"uses":[309],"safe-region":[311],"select":[314],"next":[316],"position":[318,324,350],"step.":[321],"chosen":[326],"within":[327],"maximize":[334],"gain":[337],"constraint":[342],"must":[351],"have":[352],"minimal":[354],"future,":[363],"algorithms":[367],"reinforce":[369],"other.":[371],"While":[372],"making":[380],"best":[382,409],"use":[383],"available":[386],"sensory":[387,410],"data,":[388],"algorithm,":[391],"such":[392],"here,":[396],"guides":[397],"positions":[404],"selected":[405],"provide":[407],"inputs.":[411]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":42},{"year":2018,"cited_by_count":27},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":17},{"year":2015,"cited_by_count":23},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":25},{"year":2012,"cited_by_count":13}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
