{"id":"https://openalex.org/W7133912530","doi":"https://doi.org/10.48550/arxiv.2603.03495","title":"Navigating in Uncertain Environments with Heterogeneous Visibility","display_name":"Navigating in Uncertain Environments with Heterogeneous Visibility","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133912530","doi":"https://doi.org/10.48550/arxiv.2603.03495"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.03495","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128144395","display_name":"Jongann Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jongann","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128131626","display_name":"Melkior Ornik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ornik, Melkior","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.47290000319480896,"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":0.47290000319480896,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.06080000102519989,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.05460000038146973,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/tree-traversal","display_name":"Tree traversal","score":0.8043000102043152},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.734000027179718},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.54339998960495},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5408999919891357},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5339999794960022},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4943000078201294},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.492000013589859}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.8043000102043152},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.734000027179718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6198999881744385},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.54339998960495},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5408999919891357},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5339999794960022},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4943000078201294},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.492000013589859},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4690000116825104},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4180999994277954},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.40389999747276306},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3449000120162964},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.33889999985694885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3346000015735626},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3001999855041504},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29089999198913574},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.27399998903274536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25589999556541443}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.03495","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.03495","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03495","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.03495","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Navigating":[0],"an":[1,105,188],"environment":[2],"with":[3,116,194],"uncertain":[4,150],"connectivity":[5],"requires":[6],"a":[7,33,53,76,87,127,133,147,154,171],"strategic":[8],"balance":[9],"between":[10],"minimizing":[11],"the":[12,59,67,73,81,91,98,114,117,138],"cost":[13,60,82,166,196],"of":[14,44,61,75,83,97,129,140,149,167],"traversal":[15,168],"and":[16,80,110,180],"seeking":[17],"information":[18,70],"to":[19,63,89,103,111,126,170,187],"resolve":[20],"map":[21,155],"ambiguities.":[22],"Unlike":[23],"previous":[24],"approaches":[25],"that":[26,57,136,175],"rely":[27],"on":[28,94,146,157],"local":[29],"sensing,":[30],"we":[31,101],"utilize":[32],"framework":[34],"where":[35],"nodes":[36],"possess":[37],"varying":[38],"visibility":[39],"levels,":[40],"allowing":[41],"for":[42,108,191],"observation":[43,78,109,179,193],"distant":[45],"edges":[46],"from":[47],"certain":[48],"vantage":[49],"points.":[50],"We":[51,85,142],"propose":[52],"novel":[54],"heuristic":[55],"algorithm":[56],"balances":[58],"detouring":[62],"high-visibility":[64],"locations":[65],"against":[66],"gain":[68],"in":[69],"by":[71,131],"optimizing":[72],"sum":[74],"custom":[77],"reward":[79],"traversal.":[84],"introduce":[86],"technique":[88],"sample":[90],"shortest":[92,172],"path":[93,115,173,195],"numerous":[95],"realizations":[96],"environment,":[99],"which":[100],"use":[102],"define":[104],"edge's":[106],"utility":[107],"quickly":[112],"estimate":[113],"highest":[118],"reward.":[119],"Our":[120],"approach":[121],"can":[122],"be":[123],"easily":[124],"adapted":[125],"variety":[128,148],"scenarios":[130],"tuning":[132],"single":[134],"hyperparameter":[135],"determines":[137],"importance":[139],"observation.":[141],"test":[143],"our":[144],"method":[145,162,190],"navigation":[151],"tasks,":[152],"including":[153],"based":[156],"real-world":[158],"topographical":[159],"data.":[160],"The":[161],"demonstrates":[163],"lower":[164,183],"mean":[165],"compared":[169,186],"baseline":[174],"does":[176],"not":[177],"consider":[178],"has":[181],"exponentially":[182],"computational":[184],"overhead":[185],"existing":[189],"balancing":[192],"minimization.":[197]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-06T00:00:00"}
