{"id":"https://openalex.org/W4406208130","doi":"https://doi.org/10.1109/icarcv63323.2024.10821606","title":"ACS-MM-Explore: Adaptive Circular Search Strategy for Multi-Modal Robot Exploration in Large-Scale Urban Environments","display_name":"ACS-MM-Explore: Adaptive Circular Search Strategy for Multi-Modal Robot Exploration in Large-Scale Urban Environments","publication_year":2024,"publication_date":"2024-12-12","ids":{"openalex":"https://openalex.org/W4406208130","doi":"https://doi.org/10.1109/icarcv63323.2024.10821606"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv63323.2024.10821606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-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/A5114164240","display_name":"Kaimin Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kaimin Mao","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014133410","display_name":"Yichen Zhou","orcid":"https://orcid.org/0009-0000-3888-0224"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yichen Zhou","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059520724","display_name":"Mingxing Wen","orcid":"https://orcid.org/0000-0002-9751-2648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingxing Wen","raw_affiliation_strings":["China-Singapore International Joint Research Institute,Guangzhou,PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China-Singapore International Joint Research Institute,Guangzhou,PRC","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433232","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0002-9831-6796"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018102527","display_name":"Guohao Peng","orcid":"https://orcid.org/0000-0001-9967-4934"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guohao Peng","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773430","display_name":"Zhenyu Wu","orcid":"https://orcid.org/0000-0002-9094-4982"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhenyu Wu","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54991231,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"375","last_page":"380"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9944999814033508,"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/T12288","display_name":"Optimization and Search Problems","score":0.9915000200271606,"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":0.6473709344863892},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6354027390480042},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6052493453025818},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5329042077064514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38942500948905945},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.33585333824157715},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3194793462753296},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1550147533416748},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.10044652223587036},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.062720388174057}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6473709344863892},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6354027390480042},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6052493453025818},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5329042077064514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38942500948905945},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33585333824157715},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3194793462753296},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1550147533416748},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.10044652223587036},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.062720388174057},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv63323.2024.10821606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2067191022","https://openalex.org/W2074100404","https://openalex.org/W2082219174","https://openalex.org/W2107667896","https://openalex.org/W2244356571","https://openalex.org/W2549200707","https://openalex.org/W2552165419","https://openalex.org/W2566671722","https://openalex.org/W2739036405","https://openalex.org/W2771728020","https://openalex.org/W3209352332","https://openalex.org/W4315750730","https://openalex.org/W4383108717","https://openalex.org/W4383108957","https://openalex.org/W4390099717","https://openalex.org/W4395029090","https://openalex.org/W4402727746","https://openalex.org/W6755791307"],"related_works":["https://openalex.org/W2121524756","https://openalex.org/W782553550","https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W8302103","https://openalex.org/W613940353","https://openalex.org/W1987967678","https://openalex.org/W2320915480","https://openalex.org/W2139939267","https://openalex.org/W1974511032"],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,19,36,49,67,93,99],"has":[2],"become":[3],"a":[4,38,72,85,102,139,149],"crucial":[5],"technology":[6],"for":[7,51,91],"mobile":[8],"robots,":[9],"and":[10,59,81,122,134,156],"numerous":[11],"broadly":[12],"applicable":[13],"algorithms":[14],"have":[15],"emerged.":[16],"However,":[17],"few":[18],"methods":[20],"effectively":[21],"utilize":[22],"the":[23,32,61,120,131,153],"features":[24],"of":[25,28,34,63,125],"specified":[26],"types":[27],"areas":[29,83],"to":[30,65,77],"enhance":[31,66],"efficiency":[33],"autonomous":[35],"in":[37,148],"complex":[39],"environment.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44],"propose":[45],"ACS-MM-Explore,":[46],"an":[47,107],"adaptive-circular-search-based":[48],"framework":[50,129],"large-scale":[52],"urban":[53],"road":[54,80],"environments,":[55],"focusing":[56],"on":[57,84],"extracting":[58],"utilizing":[60],"boundaries":[62],"roads":[64],"efficiency.":[68],"Our":[69],"approach":[70],"integrates":[71],"multi-modal":[73],"traversabil-ity":[74],"analysis":[75],"module":[76],"distinguish":[78],"between":[79],"non-traversable":[82],"2D":[86],"costmap.":[87],"A":[88,143],"novel":[89],"mechanism":[90,114],"gen-erating":[92],"viewpoints":[94,100],"is":[95,115,146],"introduced,":[96],"efficiently":[97],"creating":[98],"with":[101,106],"circular":[103],"search":[104],"process":[105],"adaptive":[108],"radius.":[109],"An":[110],"optimized":[111],"viewpoint":[112],"selection":[113],"included,":[116],"taking":[117],"into":[118],"account":[119],"geographical":[121],"geomet-ric":[123],"information":[124],"each":[126],"viewpoint.":[127],"The":[128],"extends":[130],"move":[132],"base":[133],"TEB":[135],"local":[136],"planner":[137],"as":[138],"viewpoint-based":[140],"navigation":[141],"module.":[142],"comprehensive":[144],"evaluation":[145],"concluded":[147],"simulation":[150],"environment,":[151],"demonstrating":[152],"framework's":[154],"effectiveness":[155],"robustness.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
