{"id":"https://openalex.org/W3165367534","doi":"https://doi.org/10.55417/fr.2023021","title":"Feature Space Exploration for Planning Initial Benthic AUV Surveys","display_name":"Feature Space Exploration for Planning Initial Benthic AUV Surveys","publication_year":2023,"publication_date":"2023-04-01","ids":{"openalex":"https://openalex.org/W3165367534","doi":"https://doi.org/10.55417/fr.2023021","mag":"3165367534"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2023021","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023021","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2023021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042940650","display_name":"Jackson Shields","orcid":"https://orcid.org/0009-0002-7676-1490"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Jackson Shields","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia 2006","Australian Centre for Field Robotics University of Sydney NSW, Australia 2006"],"raw_orcid":"https://orcid.org/0009-0002-7676-1490","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia 2006","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics University of Sydney NSW, Australia 2006","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068908958","display_name":"Oscar Pizarro","orcid":"https://orcid.org/0000-0001-6612-2738"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU","NO"],"is_corresponding":false,"raw_author_name":"Oscar Pizarro","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia 2006; Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway 7050","Australian Centre for Field Robotics University of Sydney"],"raw_orcid":"https://orcid.org/0000-0001-6612-2738","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia 2006; Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway 7050","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I204778367"]},{"raw_affiliation_string":"Australian Centre for Field Robotics University of Sydney","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044131792","display_name":"Stefan B. Williams","orcid":"https://orcid.org/0000-0001-9416-5639"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stefan B. Williams","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW, Australia 2006","Australian Centre for Field Robotics University of Sydney"],"raw_orcid":"https://orcid.org/0000-0001-9416-5639","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW, Australia 2006","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Australian Centre for Field Robotics University of Sydney","institution_ids":["https://openalex.org/I4210127558"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042940650"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":0.3858,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5636472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"652","last_page":"686"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/bathymetry","display_name":"Bathymetry","score":0.8726869821548462},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6593359708786011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5862106084823608},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5684967637062073},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5002181529998779},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4828939437866211},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.47894221544265747},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.44062626361846924},{"id":"https://openalex.org/keywords/benthic-zone","display_name":"Benthic zone","score":0.42042413353919983},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.41456180810928345},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3529539108276367},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.34726881980895996},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.33530792593955994},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.33517125248908997},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.2445615530014038},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1695331335067749},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.11985921859741211},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08278289437294006},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07995069026947021}],"concepts":[{"id":"https://openalex.org/C174943157","wikidata":"https://www.wikidata.org/wiki/Q810826","display_name":"Bathymetry","level":2,"score":0.8726869821548462},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6593359708786011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5862106084823608},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5684967637062073},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5002181529998779},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4828939437866211},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.47894221544265747},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.44062626361846924},{"id":"https://openalex.org/C83042747","wikidata":"https://www.wikidata.org/wiki/Q686881","display_name":"Benthic zone","level":2,"score":0.42042413353919983},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.41456180810928345},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3529539108276367},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.34726881980895996},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.33530792593955994},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.33517125248908997},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.2445615530014038},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1695331335067749},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.11985921859741211},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08278289437294006},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07995069026947021},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.55417/fr.2023021","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023021","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2105.11598","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.11598","pdf_url":"https://arxiv.org/pdf/2105.11598","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.55417/fr.2023021","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023021","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W857044517","https://openalex.org/W1546503963","https://openalex.org/W1590983731","https://openalex.org/W1625390266","https://openalex.org/W1978340651","https://openalex.org/W1978633512","https://openalex.org/W1990082322","https://openalex.org/W2011355556","https://openalex.org/W2017295237","https://openalex.org/W2032075694","https://openalex.org/W2059880203","https://openalex.org/W2066654966","https://openalex.org/W2112271657","https://openalex.org/W2115705117","https://openalex.org/W2126316555","https://openalex.org/W2128990851","https://openalex.org/W2143088799","https://openalex.org/W2187089797","https://openalex.org/W2192254709","https://openalex.org/W2257979135","https://openalex.org/W2303431639","https://openalex.org/W2576300543","https://openalex.org/W2591037921","https://openalex.org/W2620408778","https://openalex.org/W2744998502","https://openalex.org/W2766736793","https://openalex.org/W2767623047","https://openalex.org/W2774918944","https://openalex.org/W2794046143","https://openalex.org/W2903158431","https://openalex.org/W2904903320","https://openalex.org/W2919115771","https://openalex.org/W2948978827","https://openalex.org/W2955087651","https://openalex.org/W2962911744","https://openalex.org/W2964664157","https://openalex.org/W2987669311","https://openalex.org/W2990519679","https://openalex.org/W3003506411","https://openalex.org/W3003934420","https://openalex.org/W3091528367","https://openalex.org/W3098800204","https://openalex.org/W3099664902","https://openalex.org/W3103543904","https://openalex.org/W3194747185","https://openalex.org/W3199090079","https://openalex.org/W3202615380","https://openalex.org/W4247924069","https://openalex.org/W4288263279","https://openalex.org/W4300672471"],"related_works":["https://openalex.org/W2184765375","https://openalex.org/W2793357704","https://openalex.org/W4386617716","https://openalex.org/W773765100","https://openalex.org/W4313058144","https://openalex.org/W3152163876","https://openalex.org/W2738763808","https://openalex.org/W1972630154","https://openalex.org/W2351842833","https://openalex.org/W2622615123"],"abstract_inverted_index":{"Special-purpose":[0],"Autonomous":[1],"Underwater":[2],"Vehicles":[3],"(AUVs)":[4],"are":[5,75,82,146],"utilized":[6],"for":[7,60,106,240],"benthic":[8,207],"(seafloor)":[9],"surveys,":[10],"where":[11],"the":[12,18,22,26,29,65,119,135,149,173,192,195,200,210,232,246,260],"vehicle":[13],"collects":[14],"optical":[15],"imagery":[16,43],"of":[17,25,44,51,53,87,118,129,148,175,181,194,206,248],"seafloor.":[19],"Due":[20],"to":[21,32,63,97,123,137,166,171,184,202,230,258],"small-sensor":[23],"footprint":[24],"cameras":[27],"and":[28,81,145,198,222,265],"vast":[30],"areas":[31,45,67,80,139],"be":[33,95,231],"surveyed,":[34],"these":[35,182],"AUVs":[36],"can":[37,94],"not":[38],"feasibly":[39],"collect":[40],"full":[41],"coverage":[42,193],"larger":[46],"than":[47],"a":[48,84,114,126,161,176,237,254],"few":[49],"tens":[50],"thousands":[52],"square":[54],"meters.":[55],"Therefore":[56],"it":[57,244],"is":[58,188,236],"necessary":[59],"AUV":[61,99,109,136,186,241],"paths":[62,169],"sample":[64,124],"surveys":[66,110,187,242],"sparsely,":[68],"yet":[69],"effectively.":[70],"Broad-scale":[71],"acoustic":[72,263],"bathymetric":[73,130],"data":[74,100],"readily":[76],"available":[77],"over":[78],"large":[79],"often":[83],"useful":[85],"prior":[86,92],"seafloor":[88,268],"cover.":[89],"As":[90],"such,":[91],"bathymetry":[93,264],"used":[96],"guide":[98],"collection.":[101],"This":[102,132,235],"research":[103],"proposes":[104],"methods":[105,183],"planning":[107],"initial":[108,211,249],"that":[111,140,159],"efficiently":[112],"explore":[113],"feature":[115,162,196],"space":[116,163,197],"representation":[117],"bathymetry,":[120],"in":[121],"order":[122],"from":[125],"diverse":[127],"set":[128,257],"terrain.":[131],"will":[133],"enable":[134],"visit":[138,203],"likely":[141],"contain":[142],"unique":[143],"habitats":[144],"representative":[147],"entire":[150],"survey":[151,177],"site.":[152],"We":[153],"propose":[154],"several":[155],"information":[156],"gathering":[157],"planners":[158,214],"utilize":[160],"exploration":[164],"reward,":[165],"plan":[167,185],"freeform":[168],"or":[170],"optimize":[172],"placement":[174],"template.":[178],"The":[179],"suitability":[180],"evaluated":[189],"based":[190,215],"on":[191,209,216],"also":[199,252],"ability":[201],"all":[204],"classes":[205],"habitat":[208],"dive.":[212],"Informative":[213],"Rapidly":[217],"expanding":[218],"Random":[219],"Trees":[220],"(RRT)":[221],"Monte":[223],"Carlo":[224],"Tree":[225],"Search":[226],"(MCTS)":[227],"were":[228],"found":[229],"most":[233],"effective.":[234],"valuable":[238],"tool":[239],"as":[243],"increases":[245],"utility":[247],"dives.":[250],"It":[251],"delivers":[253],"comprehensive":[255],"training":[256],"learn":[259],"relationship":[261],"between":[262],"visually":[266],"derived":[267],"classifications.":[269]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
