{"id":"https://openalex.org/W3038136181","doi":"https://doi.org/10.3390/s20133663","title":"An Integrated Strategy for Autonomous Exploration of Spatial Processes in Unknown Environments","display_name":"An Integrated Strategy for Autonomous Exploration of Spatial Processes in Unknown Environments","publication_year":2020,"publication_date":"2020-06-30","ids":{"openalex":"https://openalex.org/W3038136181","doi":"https://doi.org/10.3390/s20133663","mag":"3038136181","pmid":"https://pubmed.ncbi.nlm.nih.gov/32629898"},"language":"en","primary_location":{"id":"doi:10.3390/s20133663","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20133663","pdf_url":"https://www.mdpi.com/1424-8220/20/13/3663/pdf?version=1594223133","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/13/3663/pdf?version=1594223133","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072139811","display_name":"Valentina Karolj","orcid":null},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Valentina Karolj","raw_affiliation_strings":["Service Robotics Laboratory, Universidad Pablo de Olavide, Crta. Utrera km 1, 41013 Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Service Robotics Laboratory, Universidad Pablo de Olavide, Crta. Utrera km 1, 41013 Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059112748","display_name":"Alberto Viseras","orcid":"https://orcid.org/0000-0001-5219-6533"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alberto Viseras","raw_affiliation_strings":["German Aerospace Center, Oberpfaffenhofen, 82234 We\u00dfling, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5219-6533","affiliations":[{"raw_affiliation_string":"German Aerospace Center, Oberpfaffenhofen, 82234 We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Merino","raw_affiliation_strings":["Service Robotics Laboratory, Universidad Pablo de Olavide, Crta. Utrera km 1, 41013 Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-4927-8647","affiliations":[{"raw_affiliation_string":"Service Robotics Laboratory, Universidad Pablo de Olavide, Crta. Utrera km 1, 41013 Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047628893","display_name":"Dmitriy Shutin","orcid":"https://orcid.org/0000-0002-6065-6453"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dmitriy Shutin","raw_affiliation_strings":["German Aerospace Center, Oberpfaffenhofen, 82234 We\u00dfling, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6065-6453","affiliations":[{"raw_affiliation_string":"German Aerospace Center, Oberpfaffenhofen, 82234 We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072139811"],"corresponding_institution_ids":["https://openalex.org/I95013407"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":1589,"currency":"EUR","value_usd":1713},"fwci":4.8871,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.95996384,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"20","issue":"13","first_page":"3663","last_page":"3663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.7325037717819214},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6246991753578186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5704154372215271},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4888743758201599},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4879293143749237},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.46106916666030884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45377662777900696},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4435453414916992},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.4413837790489197},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33470284938812256},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1696195900440216},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13271310925483704}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7325037717819214},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6246991753578186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5704154372215271},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4888743758201599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4879293143749237},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.46106916666030884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45377662777900696},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4435453414916992},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.4413837790489197},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33470284938812256},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1696195900440216},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13271310925483704},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s20133663","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20133663","pdf_url":"https://www.mdpi.com/1424-8220/20/13/3663/pdf?version=1594223133","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:32629898","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32629898","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:elib.dlr.de:135430","is_oa":false,"landing_page_url":"https://doi.org/10.3390/s20133663>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:doaj.org/article:12f6cf82f6f443ea812d1f0e18c86349","is_oa":true,"landing_page_url":"https://doaj.org/article/12f6cf82f6f443ea812d1f0e18c86349","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 20, Iss 13, p 3663 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/13/3663/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20133663","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7374370","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7374370","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20133663","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20133663","pdf_url":"https://www.mdpi.com/1424-8220/20/13/3663/pdf?version=1594223133","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G8181105605","display_name":null,"funder_award_id":"RTI2018","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"}],"funders":[{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3038136181.pdf","grobid_xml":"https://content.openalex.org/works/W3038136181.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1492297732","https://openalex.org/W1586124388","https://openalex.org/W1601649239","https://openalex.org/W1605073378","https://openalex.org/W1953793983","https://openalex.org/W1969483458","https://openalex.org/W1999050017","https://openalex.org/W2013229266","https://openalex.org/W2022288764","https://openalex.org/W2023292064","https://openalex.org/W2033810643","https://openalex.org/W2044079487","https://openalex.org/W2083327122","https://openalex.org/W2088681682","https://openalex.org/W2104409492","https://openalex.org/W2107667896","https://openalex.org/W2127218421","https://openalex.org/W2131244428","https://openalex.org/W2131824593","https://openalex.org/W2146271069","https://openalex.org/W2156514784","https://openalex.org/W2161123599","https://openalex.org/W2169781427","https://openalex.org/W2172103629","https://openalex.org/W2296228853","https://openalex.org/W2296693980","https://openalex.org/W2411093439","https://openalex.org/W2415731567","https://openalex.org/W2461937780","https://openalex.org/W2549200707","https://openalex.org/W2743032842","https://openalex.org/W2798278946","https://openalex.org/W2803204571","https://openalex.org/W2804446681","https://openalex.org/W2898358825","https://openalex.org/W2909908358","https://openalex.org/W2915089344","https://openalex.org/W2923827575","https://openalex.org/W2945996237","https://openalex.org/W2963307872","https://openalex.org/W3003506411","https://openalex.org/W3098068565","https://openalex.org/W3124420883","https://openalex.org/W4211049957","https://openalex.org/W6679608865"],"related_works":["https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Exploration":[0],"of":[1,69,89,96,152],"spatial":[2,67,94],"processes,":[3],"such":[4],"as":[5,170],"radioactivity":[6],"or":[7],"temperature":[8],"is":[9,22,31],"a":[10,32,56,62,66,140,171,181,186],"fundamental":[11],"task":[12],"in":[13,71,155,189],"many":[14],"robotic":[15,20],"applications.":[16],"In":[17,51],"the":[18,29,87,93,103,120,135],"literature,":[19],"exploration":[21,117,126,207],"mainly":[23],"carried":[24],"out":[25,149],"for":[26,36,48,110],"applications":[27,40],"where":[28],"environment":[30,164],"priori":[33],"known.":[34],"However,":[35,122],"most":[37],"real":[38],"life":[39],"this":[41,52,76],"assumption":[42],"often":[43],"does":[44],"not":[45],"hold,":[46],"specifically":[47],"disaster":[49],"scenarios.":[50],"paper,":[53],"we":[54,78,85,106,176],"propose":[55,86],"novel":[57],"integrated":[58,132,199],"strategy":[59,133,200],"that":[60,197],"allows":[61],"robot":[63,111,184],"to":[64,91,101,118,160],"explore":[65,119],"process":[68,95,99,125,143,172,188],"interest":[70],"an":[72,190],"unknown":[73,191],"environment.":[74,121,193],"To":[75],"end,":[77],"build":[79],"upon":[80],"two":[81,136],"major":[82],"blocks.":[83],"First,":[84],"use":[88],"GP":[90,168,205],"model":[92],"interest,":[97],"and":[98,113,115,124,144,163,204],"entropy":[100],"drive":[102],"exploration.":[104,146],"Second,":[105],"employ":[107],"registration":[108],"algorithms":[109],"mapping":[112],"localization,":[114],"frontier-based":[116,203],"map":[123,145],"can":[127],"be":[128],"conflicting":[129],"goals.":[130],"Our":[131],"fuses":[134],"aforementioned":[137],"blocks":[138],"through":[139],"trade-off":[141],"between":[142],"We":[147],"carry":[148],"extensive":[150],"evaluations":[151],"our":[153,198],"algorithm":[154],"simulated":[156,167,187],"environments":[157],"with":[158,180],"respect":[159],"different":[161],"baselines":[162],"setups":[165],"using":[166],"data":[169],"at":[173],"hand.":[174],"Additionally,":[175],"perform":[177],"experimental":[178],"verification":[179],"mobile":[182],"holonomic":[183],"exploring":[185],"labyrinth":[192],"Demonstrated":[194],"results":[195],"show":[196],"outperforms":[201],"both":[202],"entropy-driven":[206],"strategies.":[208]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}