{"id":"https://openalex.org/W3217015082","doi":"https://doi.org/10.3390/rs13234881","title":"Efficient and Safe Robotic Autonomous Environment Exploration Using Integrated Frontier Detection and Multiple Path Evaluation","display_name":"Efficient and Safe Robotic Autonomous Environment Exploration Using Integrated Frontier Detection and Multiple Path Evaluation","publication_year":2021,"publication_date":"2021-12-01","ids":{"openalex":"https://openalex.org/W3217015082","doi":"https://doi.org/10.3390/rs13234881","mag":"3217015082"},"language":"en","primary_location":{"id":"doi:10.3390/rs13234881","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13234881","pdf_url":"https://www.mdpi.com/2072-4292/13/23/4881/pdf?version=1638362772","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/13/23/4881/pdf?version=1638362772","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073850712","display_name":"Yuxi Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxi Sun","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, China","National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China","School of Mechanical Engineering, Shandong University, Jinan 250061, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077452145","display_name":"Chengrui Zhang","orcid":"https://orcid.org/0000-0003-1536-589X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chengrui Zhang","raw_affiliation_strings":["Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, China","National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China","School of Mechanical Engineering, Shandong University, Jinan 250061, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077452145"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":0.3876,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.62376831,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"13","issue":"23","first_page":"4881","last_page":"4881"},"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":0.9993000030517578,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.7513673305511475},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.685267984867096},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5893875360488892},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47656726837158203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4189056158065796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37463316321372986},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3422739505767822}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7513673305511475},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.685267984867096},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5893875360488892},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47656726837158203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4189056158065796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37463316321372986},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3422739505767822},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs13234881","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13234881","pdf_url":"https://www.mdpi.com/2072-4292/13/23/4881/pdf?version=1638362772","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f2e545aee5eb4bd793b84a51b253e06f","is_oa":true,"landing_page_url":"https://doaj.org/article/f2e545aee5eb4bd793b84a51b253e06f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 13, Iss 23, p 4881 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/13/23/4881/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs13234881","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 13; Issue 23; Pages: 4881","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs13234881","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13234881","pdf_url":"https://www.mdpi.com/2072-4292/13/23/4881/pdf?version=1638362772","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3217015082.pdf","grobid_xml":"https://content.openalex.org/works/W3217015082.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W626865218","https://openalex.org/W1424654272","https://openalex.org/W1592601589","https://openalex.org/W1684737195","https://openalex.org/W1971086298","https://openalex.org/W2056554710","https://openalex.org/W2067191022","https://openalex.org/W2074492770","https://openalex.org/W2076200020","https://openalex.org/W2089950862","https://openalex.org/W2090840593","https://openalex.org/W2107667896","https://openalex.org/W2110178871","https://openalex.org/W2117211893","https://openalex.org/W2118448675","https://openalex.org/W2130422193","https://openalex.org/W2146271069","https://openalex.org/W2168359206","https://openalex.org/W2169781427","https://openalex.org/W2171330332","https://openalex.org/W2409009991","https://openalex.org/W2496015086","https://openalex.org/W2507323042","https://openalex.org/W2564666437","https://openalex.org/W2771728020","https://openalex.org/W2905178987","https://openalex.org/W2907636777","https://openalex.org/W2910054127","https://openalex.org/W2914031928","https://openalex.org/W2915903202","https://openalex.org/W2916679149","https://openalex.org/W2933132318","https://openalex.org/W2949691147","https://openalex.org/W2962787639","https://openalex.org/W2963295201","https://openalex.org/W2968427533","https://openalex.org/W2969997986","https://openalex.org/W2980806671","https://openalex.org/W2990048493","https://openalex.org/W2990679955","https://openalex.org/W3008533198","https://openalex.org/W3035218572","https://openalex.org/W3037779634","https://openalex.org/W3098800204","https://openalex.org/W3099362956","https://openalex.org/W3099932909","https://openalex.org/W3102365391","https://openalex.org/W3109835212","https://openalex.org/W3132475407","https://openalex.org/W3164869605","https://openalex.org/W3176821999","https://openalex.org/W6637417686"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,45,57,171],"and":[2,14,37,66,76,83,125,169],"remote":[3],"sensing":[4],"using":[5,129],"robots":[6],"have":[7],"gained":[8],"increasing":[9],"attention":[10],"in":[11,43],"recent":[12],"years":[13],"aims":[15],"to":[16,33,101,109,120,143],"maximize":[17],"information":[18],"collection":[19],"regarding":[20],"the":[21,81,88,106,110,116,122,135,145,157,160,164,170],"external":[22],"world":[23],"without":[24],"human":[25],"intervention.":[26],"However,":[27],"incomplete":[28,38],"frontier":[29,64],"detection,":[30],"an":[31,62,130],"inability":[32],"eliminate":[34],"inefficient":[35],"frontiers,":[36],"evaluation":[39],"limit":[40],"further":[41],"improvements":[42],"autonomous":[44],"efficiency.":[46,60],"This":[47],"article":[48],"provides":[49],"a":[50,95],"systematic":[51],"solution":[52],"for":[53],"ground":[54],"mobile":[55],"robot":[56,107],"with":[58,156,191],"high":[59],"Firstly,":[61],"integrated":[63],"detection":[65],"maintenance":[67,79],"method":[68,100,140,162,186],"is":[69,141],"proposed,":[70],"which":[71],"incrementally":[72],"discovers":[73],"potential":[74],"frontiers":[75,85],"achieves":[77],"incremental":[78],"of":[80],"safe":[82],"informative":[84],"by":[86,167,173],"updating":[87],"distance":[89],"map":[90],"locally.":[91],"Secondly,":[92],"we":[93,114],"propose":[94],"novel":[96],"multiple":[97,103],"paths":[98,104],"planning":[99],"generate":[102],"from":[105],"position":[108],"unexplored":[111],"frontiers.":[112],"Then,":[113],"use":[115],"proposed":[117,161,185],"utility":[118],"function":[119],"select":[121],"optimal":[123],"path":[124,165],"improve":[126],"its":[127],"smoothness":[128],"iterative":[131],"optimization":[132],"strategy.":[133],"Ultimately,":[134],"model":[136],"predictive":[137],"control":[138],"(MPC)":[139],"applied":[142],"track":[144],"smooth":[146],"path.":[147],"Simulation":[148],"experiments":[149],"on":[150,175],"typical":[151],"environments":[152],"demonstrate":[153],"that":[154,183],"compared":[155],"benchmark":[158],"methods,":[159],"reduce":[163],"length":[166],"27.07%":[168],"time":[172],"27.09%":[174],"average.":[176],"The":[177],"real-world":[178],"experimental":[179],"results":[180],"also":[181],"reveal":[182],"our":[184],"can":[187],"achieve":[188],"complete":[189],"mapping":[190],"fewer":[192],"repetitive":[193],"paths.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}