{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T17:24:39Z","timestamp":1779384279312,"version":"3.53.1"},"reference-count":60,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2019,8,3]],"date-time":"2019-08-03T00:00:00Z","timestamp":1564790400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,8,3]],"date-time":"2019-08-03T00:00:00Z","timestamp":1564790400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001804","name":"the Canada Research Chairs Program","doi-asserted-by":"crossref","award":["950-219525"],"award-info":[{"award-number":["950-219525"]}],"id":[{"id":"10.13039\/501100001804","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Department of Natural Resources & the Environment, University of New Hampshire (US)the Natural Sciences and Engineering Research Council of Canada","award":["RGPIN-2016-05352"],"award-info":[{"award-number":["RGPIN-2016-05352"]}]},{"name":"MSCA-IF-2016","award":["741941"],"award-info":[{"award-number":["741941"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2020,1]]},"DOI":"10.1007\/s10514-019-09882-z","type":"journal-article","created":{"date-parts":[[2019,8,3]],"date-time":"2019-08-03T10:02:37Z","timestamp":1564826557000},"page":"131-146","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Attention-based active visual search for mobile robots"],"prefix":"10.1007","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0106-2225","authenticated-orcid":false,"given":"Amir","family":"Rasouli","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pablo","family":"Lanillos","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gordon","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John K.","family":"Tsotsos","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,8,3]]},"reference":[{"issue":"4","key":"9882_CR1","doi-asserted-by":"publisher","first-page":"986","DOI":"10.1109\/TRO.2013.2256686","volume":"29","author":"A Aydemir","year":"2013","unstructured":"Aydemir, A., Pronobis, A., G\u00f6belbecker, M., & Jensfelt, P. (2013). Active visual object search in unknown environments using uncertain semantics. Transactions on Robotics, 29(4), 986\u20131002.","journal-title":"Transactions on Robotics"},{"issue":"8","key":"9882_CR2","doi-asserted-by":"publisher","first-page":"966","DOI":"10.1109\/5.5968","volume":"76","author":"R Bajcsy","year":"1988","unstructured":"Bajcsy, R. (1988). Active perception. The Proceedings of IEEE, 76(8), 966\u20131005.","journal-title":"The Proceedings of IEEE"},{"key":"9882_CR3","first-page":"1","volume":"42","author":"R Bajcsy","year":"2016","unstructured":"Bajcsy, R., Aloimonos, Y., & Tsotsos, J. K. (2016). Revisiting active perception. Autonomous Robots, 42, 1\u201320.","journal-title":"Autonomous Robots"},{"issue":"1","key":"9882_CR4","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1109\/TIP.2012.2210727","volume":"22","author":"A Borji","year":"2013","unstructured":"Borji, A., Sihite, D. N., & Itti, L. (2013). Quantitative analysis of humanmodel agreement in visual saliency modeling: A comparative study. Transactions on Image Processing, 22(1), 55\u201369.","journal-title":"Transactions on Image Processing"},{"key":"9882_CR5","unstructured":"Bourgault, F., Furukawa, T., & Durrant-Whyte, H. F. (2003). Optimal search for a lost target in a bayesian world. In FSR (pp. 209\u2013222)."},{"issue":"9","key":"9882_CR6","doi-asserted-by":"publisher","first-page":"950","DOI":"10.1167\/7.9.950","volume":"7","author":"N Bruce","year":"2007","unstructured":"Bruce, N., & Tsotsos, J. K. (2007). Attention based on information maximization. Journal of Vision, 7(9), 950.","journal-title":"Journal of Vision"},{"issue":"3","key":"9882_CR7","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1167\/9.3.5","volume":"9","author":"ND Bruce","year":"2009","unstructured":"Bruce, N. D., & Tsotsos, J. K. (2009). Saliency, attention, and visual search: An information theoretic approach. Journal of Vision, 9(3), 5.","journal-title":"Journal of Vision"},{"key":"9882_CR8","doi-asserted-by":"crossref","unstructured":"Butko, N. J., Zhang, L., Cottrell, G. W., & Movellan, J. R. (2008). Visual saliency model for robot cameras. In International conference on virtual rehabilitation (pp. 2398\u20132403).","DOI":"10.1109\/ROBOT.2008.4543572"},{"key":"9882_CR9","doi-asserted-by":"publisher","first-page":"258","DOI":"10.1016\/j.visres.2015.04.007","volume":"116","author":"Z Bylinskii","year":"2015","unstructured":"Bylinskii, Z., DeGennaro, E., Rajalingham, R., Ruda, H., Zhang, J., & Tsotsos, J. (2015). Towards the quantitative evaluation of visual attention models. Vision Research, 116, 258\u2013268.","journal-title":"Vision Research"},{"issue":"2\u20133","key":"9882_CR10","doi-asserted-by":"publisher","first-page":"182","DOI":"10.1007\/s004260050050","volume":"62","author":"RK Cave","year":"1999","unstructured":"Cave, R. K. (1999). The featuregate model of visual selection. Psychological Research, 62(2\u20133), 182\u2013194.","journal-title":"Psychological Research"},{"key":"9882_CR11","unstructured":"Chang, K., Liu, T., Chen, H., & Lai, S. (2011). Fusing generic objectness and visual saliency for salient object detection. In ICCV (pp. 914\u2013921)."},{"key":"9882_CR12","doi-asserted-by":"crossref","unstructured":"Chen, X., & Lee, S. (2013). Visual search of an object in cluttered environments for robotic errand service. In International conference on systems, man, and cybernetics (pp. 4060\u20134065).","DOI":"10.1109\/SMC.2013.693"},{"key":"9882_CR13","doi-asserted-by":"crossref","unstructured":"Chung, T. H., & Burdick, J. W. (2007). A decision-making framework for control strategies in probabilistic search. In ICRA (pp. 4386\u20134393).","DOI":"10.1109\/ROBOT.2007.364155"},{"issue":"5","key":"9882_CR14","doi-asserted-by":"publisher","first-page":"1107","DOI":"10.1287\/opre.32.5.1107","volume":"32","author":"JN Eagle","year":"1984","unstructured":"Eagle, J. N. (1984). The optimal search for a moving target when the search path is constrained. Operations Research, 32(5), 1107\u20131115.","journal-title":"Operations Research"},{"issue":"5","key":"9882_CR15","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1167\/11.5.14","volume":"11","author":"MP Eckstein","year":"2011","unstructured":"Eckstein, M. P. (2011). Visual search: A retrospective. Journal of Vision, 11(5), 14\u201314.","journal-title":"Journal of Vision"},{"issue":"2","key":"9882_CR16","doi-asserted-by":"publisher","first-page":"110","DOI":"10.1109\/TAMD.2014.2303072","volume":"6","author":"JF Ferreira","year":"2014","unstructured":"Ferreira, J. F., & Dias, J. (2014). Attentional mechanisms for socially interactive robots-a survey. Autonomous Mental Development, 6(2), 110\u2013125.","journal-title":"Autonomous Mental Development"},{"key":"9882_CR17","doi-asserted-by":"crossref","unstructured":"Forss\u00e9n, P.-E., Meger, D., Lai, K., Helmer, S., Little, J. J., & Lowe, D. G. (2008). Informed visual search: Combining attention and object recognition. In ICRA (pp. 935\u2013942).","DOI":"10.1109\/ROBOT.2008.4543325"},{"key":"9882_CR18","doi-asserted-by":"publisher","DOI":"10.1007\/11682110","volume-title":"VOCUS: A visual attention system for object detection and goal-directed search","author":"S Frintrop","year":"2006","unstructured":"Frintrop, S. (2006). VOCUS: A visual attention system for object detection and goal-directed search (Vol. 3899). Berlin: Springer."},{"key":"9882_CR19","unstructured":"Gan, S. K., & Sukkarieh, S. (2010). Multi-UAV target search using explicit decentralized gradient-based negotiation. In ICRA (pp. 751\u2013756)."},{"issue":"10","key":"9882_CR20","doi-asserted-by":"publisher","first-page":"1915","DOI":"10.1109\/TPAMI.2011.272","volume":"34","author":"S Goferman","year":"2012","unstructured":"Goferman, S., Zelnik-Manor, L., & Tal, A. (2012). Context-aware saliency detection. PAMI, 34(10), 1915\u20131926.","journal-title":"PAMI"},{"key":"9882_CR21","doi-asserted-by":"crossref","unstructured":"He, S., Lau, R., & Yang, Q. (2016). Exemplar-driven top-down saliency detection via deep association. In CVPR (pp. 5723\u20135732).","DOI":"10.1109\/CVPR.2016.617"},{"key":"9882_CR22","unstructured":"Hou, X., & Zhang, L. (2008). Dynamic visual attention: Searching for coding length increments. In NIPS (pp. 681\u2013688)."},{"issue":"11","key":"9882_CR23","doi-asserted-by":"publisher","first-page":"1254","DOI":"10.1109\/34.730558","volume":"20","author":"L Itti","year":"1998","unstructured":"Itti, L., Koch, C., & Niebur, E. (1998). A model of saliency-based visua attention for rapid scene analysis. PAMI, 20(11), 1254\u20131259.","journal-title":"PAMI"},{"issue":"1\u2013110","key":"9882_CR24","first-page":"12","volume":"110","author":"H Jiang","year":"2011","unstructured":"Jiang, H., Wang, J., Yuan, Z., Liu, T., Zheng, N., & Li, S. (2011). Automatic salient object segmentation based on context and shape prior. BMVC, 110(1\u2013110), 12.","journal-title":"BMVC"},{"issue":"4","key":"9882_CR25","doi-asserted-by":"publisher","first-page":"2143","DOI":"10.1109\/LRA.2017.2720853","volume":"2","author":"M Kaboli","year":"2017","unstructured":"Kaboli, M., Feng, D., Yao, K., Lanillos, P., & Cheng, G. (2017). A tactile-based framework for active object learning and discrimination using multimodal robotic skin. Robotics and Automation Letters, 2(4), 2143\u20132150.","journal-title":"Robotics and Automation Letters"},{"issue":"3","key":"9882_CR26","doi-asserted-by":"publisher","first-page":"719","DOI":"10.1109\/TRO.2012.2235699","volume":"29","author":"A Kim","year":"2013","unstructured":"Kim, A., & Eustice, R. M. (2013). Real-time visual slam for autonomous underwater hull inspection using visual saliency. Transactions on Robotics, 29(3), 719\u2013733.","journal-title":"Transactions on Robotics"},{"key":"9882_CR27","doi-asserted-by":"crossref","unstructured":"Koenig, N., & Howard, A. (2004). Design and use paradigms for gazebo, an open-source multi-robot simulator. In IROS (pp. 2149\u20132154).","DOI":"10.1109\/IROS.2004.1389727"},{"issue":"1","key":"9882_CR28","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1016\/j.robot.2005.03.011","volume":"52","author":"D Kragic","year":"2005","unstructured":"Kragic, D., Bj\u00f6rkman, M., Christensen, H. I., & Eklundh, J.-O. (2005). Vision for robotic object manipulation in domestic settings. Robotics and Autonomous Systems, 52(1), 85\u2013100.","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"9882_CR29","doi-asserted-by":"publisher","first-page":"31","DOI":"10.20982\/tqmp.06.1.p031","volume":"6","author":"D Langli","year":"2010","unstructured":"Langli, D., Chartier, S., & Gosselin, D. (2010). An introduction to independent component analysis: Infomax and fastica algorithms. Tutorials in Quantitative Methods for Psychology, 6(1), 31\u201338.","journal-title":"Tutorials in Quantitative Methods for Psychology"},{"key":"9882_CR30","unstructured":"Lanillos, P. (2013). Minimum time search of moving targets in uncertain environments. PhD thesis."},{"issue":"8","key":"9882_CR31","doi-asserted-by":"publisher","first-page":"14131","DOI":"10.3390\/s140814131","volume":"14","author":"P Lanillos","year":"2014","unstructured":"Lanillos, P., Besada-Portas, E., Lopez-Orozco, J. A., & de la Cruz, J. M. (2014a). Minimum time search in uncertain dynamic domains with complex sensorial platforms. Sensors, 14(8), 14131\u201314179.","journal-title":"Sensors"},{"key":"9882_CR32","doi-asserted-by":"crossref","unstructured":"Lanillos, P., Ferreira, J. F., & Dias, J. (2015). Designing an artificial attention system for social robots. In IROS (pp. 4171\u20134178).","DOI":"10.1109\/IROS.2015.7353967"},{"key":"9882_CR33","doi-asserted-by":"publisher","first-page":"92","DOI":"10.1016\/j.ins.2014.05.054","volume":"282","author":"P Lanillos","year":"2014","unstructured":"Lanillos, P., Gan, S. K., Besada-Portas, E., Pajares, G., & Sukkarieh, S. (2014b). Multi-uav target search using decentralized gradient-based negotiation with expected observation. Information Sciences, 282, 92\u2013110.","journal-title":"Information Sciences"},{"key":"9882_CR34","unstructured":"Li, G., & Yu, Y. (2015). Visual saliency based on multiscale deep features. In CVPR (pp. 5455\u20135463)."},{"issue":"1","key":"9882_CR35","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1142\/S0219843608001285","volume":"5","author":"J Moren","year":"2008","unstructured":"Moren, J., UDE, A., Koene, A., & Cheng, G. (2008). Biologically based top-down attention modulation for humanoid interactions. International Journal of Humanoid Robotics, 5(1), 3\u201324.","journal-title":"International Journal of Humanoid Robotics"},{"key":"9882_CR36","doi-asserted-by":"crossref","unstructured":"Orabona, F., Metta, G., & Sandini, G. (2005). Object-based visual attention: A model for a behaving robot. In CVPRW (pp. 89\u201389).","DOI":"10.1109\/CVPR.2005.502"},{"key":"9882_CR37","unstructured":"Rasouli, A., & Tsotsos, J.K. (2014a). Attention in autonomous robotic visual search. In i-SAIRAS."},{"key":"9882_CR38","doi-asserted-by":"crossref","unstructured":"Rasouli, A., & Tsotsos, J. K. (2014b). Visual saliency improves autonomous visual search. In The conference on computer and robotic vision (CRV) (pp. 111\u2013118).","DOI":"10.1109\/CRV.2014.23"},{"key":"9882_CR39","unstructured":"Rasouli, A., & Tsotsos, J. K. (2017). The effect of color space selection on detectability and discriminability of colored objects. \narXiv:1702.05421\n\n."},{"key":"9882_CR40","doi-asserted-by":"crossref","unstructured":"Roberts, R., Ta, D.N., Straub, J., Ok, K., & Dellaert, F. (2012). Saliency detection and model-based tracking: A two part vision system for small robot navigation in forested environments. In SPIE.","DOI":"10.1117\/12.919598"},{"key":"9882_CR41","doi-asserted-by":"crossref","unstructured":"Shon, A. P., Grimes, D. B., Baker, C. L., Hoffman, M., Zhou, S., & Rao, R. P. N. (2005). Probabilistic gaze imitation and saliency learning in a robotic head. In ICRA (pp. 2865\u20132870).","DOI":"10.1109\/ROBOT.2005.1570548"},{"issue":"5","key":"9882_CR42","first-page":"535","volume":"114","author":"K Shubina","year":"2010","unstructured":"Shubina, K., & Tsotsos, J. K. (2010). Visual search for an object in a 3d environment using a mobile robot. CVIU, 114(5), 535\u2013547.","journal-title":"CVIU"},{"issue":"9","key":"9882_CR43","doi-asserted-by":"publisher","first-page":"1093","DOI":"10.1016\/j.robot.2012.06.001","volume":"60","author":"K Sj\u00f6\u00f6","year":"2012","unstructured":"Sj\u00f6\u00f6, K., Aydemir, A., & Jensfelt, P. (2012). Topological spatial relations for active visual search. Robotics and Autonomous Systems, 60(9), 1093\u20131107.","journal-title":"Robotics and Autonomous Systems"},{"key":"9882_CR44","volume-title":"Theory of optimal search","author":"LD Stone","year":"1975","unstructured":"Stone, L. D. (1975). Theory of optimal search. New York: Academic Press."},{"issue":"1","key":"9882_CR45","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1007\/BF00130487","volume":"7","author":"MJ Swain","year":"1991","unstructured":"Swain, M. J., & Ballard, D. H. (1991). Color indexing. IJCV, 7(1), 11\u201332.","journal-title":"IJCV"},{"issue":"1","key":"9882_CR46","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1016\/0010-0285(80)90005-5","volume":"12","author":"AM Treisman","year":"1980","unstructured":"Treisman, A. M., & Gelade, G. (1980). A feature-integration theory of attention. Cognitive Psychology, 12(1), 97\u2013136.","journal-title":"Cognitive Psychology"},{"issue":"2","key":"9882_CR47","doi-asserted-by":"publisher","first-page":"324","DOI":"10.1287\/opre.34.2.324","volume":"34","author":"KE Trummel","year":"1986","unstructured":"Trummel, K. E., & Weisinger, J. R. (1986). The complexity of the optimal searcher path problem. Operations Research, 34(2), 324\u2013327.","journal-title":"Operations Research"},{"key":"9882_CR48","first-page":"1","volume":"41","author":"K-S Tseng","year":"2015","unstructured":"Tseng, K.-S., & Mettler, B. (2015). Near-optimal probabilistic search via submodularity and sparse regression. Autonomous Robots, 41, 1\u201325.","journal-title":"Autonomous Robots"},{"key":"9882_CR49","first-page":"1571","volume":"89","author":"JK Tsotsos","year":"1989","unstructured":"Tsotsos, J. K. (1989). The complexity of perceptual search tasks. IJCAI, 89, 1571\u20131577.","journal-title":"IJCAI"},{"issue":"03","key":"9882_CR50","doi-asserted-by":"publisher","first-page":"423","DOI":"10.1017\/S0140525X00079577","volume":"13","author":"JK Tsotsos","year":"1990","unstructured":"Tsotsos, J. K. (1990). Analyzing vision at the complexity level. Behavioral and Brain Sciences, 13(03), 423\u2013445.","journal-title":"Behavioral and Brain Sciences"},{"issue":"2","key":"9882_CR51","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1007\/BF00128132","volume":"7","author":"JK Tsotsos","year":"1992","unstructured":"Tsotsos, J. K. (1992). On the relative complexity of active vs. passive visual search. IJCV, 7(2), 127\u2013141.","journal-title":"IJCV"},{"key":"9882_CR52","doi-asserted-by":"crossref","unstructured":"Ude, A., Wyart, V., Lin, L.H., & Cheng, G. (2005). Distributed visual attention on a humanoid robot. In International conference on humanoid robots, IEEE (pp. 381\u2013386).","DOI":"10.1109\/ICHR.2005.1573597"},{"issue":"7126","key":"9882_CR53","doi-asserted-by":"publisher","first-page":"406","DOI":"10.1038\/nature05464","volume":"445","author":"M Vergassola","year":"2007","unstructured":"Vergassola, M., Villermaux, E., & Shraiman, B. I. (2007). \u2018infotaxis\u2019 as a strategy for searching without gradients. Nature, 445(7126), 406\u2013409.","journal-title":"Nature"},{"key":"9882_CR54","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1093\/acprof:oso\/9780195189193.003.0008","volume":"15","author":"JM Wolfe","year":"2007","unstructured":"Wolfe, J. M. (2007). Guided search 4.0. Integrated Models of Cognitive Systems, 15, 99\u2013119.","journal-title":"Integrated Models of Cognitive Systems"},{"issue":"5","key":"9882_CR55","doi-asserted-by":"publisher","first-page":"947","DOI":"10.1109\/TRO.2010.2062571","volume":"26","author":"T Xu","year":"2010","unstructured":"Xu, T., Kuhnlenz, K., & Buss, M. (2010). Autonomous behavior-based switched top-down and bottom-up visual attention for mobile robots. Transactions on Robotics, 26(5), 947\u2013954.","journal-title":"Transactions on Robotics"},{"key":"9882_CR56","unstructured":"Yang, J., & Yangm, M. (2012). Top-down visual saliency via joint crf and dictionary learning. In CVPR (pp. 576\u2013588)."},{"issue":"2","key":"9882_CR57","first-page":"145","volume":"73","author":"Y Ye","year":"1999","unstructured":"Ye, Y., & Tsotsos, J. K. (1999). Sensor planning for 3d object search. CVIU, 73(2), 145\u2013168.","journal-title":"CVIU"},{"issue":"4","key":"9882_CR58","doi-asserted-by":"publisher","first-page":"605","DOI":"10.1111\/0824-7935.00166","volume":"17","author":"Y Ye","year":"2001","unstructured":"Ye, Y., & Tsotsos, J. K. (2001). A complexity-level analysis of the sensor planning task for object search. Computational Intelligence, 17(4), 605\u2013620.","journal-title":"Computational Intelligence"},{"key":"9882_CR59","doi-asserted-by":"crossref","unstructured":"Zhao, R., Ouyang, W., Li, H., & Wang, X. (2015). Saliency detection by multi-context deep learning. In CVPR (pp. 1265\u20131274).","DOI":"10.1109\/CVPR.2015.7298731"},{"issue":"1","key":"9882_CR60","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/s11265-013-0768-9","volume":"74","author":"J Zhu","year":"2014","unstructured":"Zhu, J., Qiu, Y., Zhang, R., & Huang, J. (2014). Top-down saliency detection via contextual pooling. Journal of Signal Processing Systems, 74(1), 33\u201346.","journal-title":"Journal of Signal Processing Systems"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-019-09882-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-019-09882-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-019-09882-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,1]],"date-time":"2020-08-01T23:09:31Z","timestamp":1596323371000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-019-09882-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,3]]},"references-count":60,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,1]]}},"alternative-id":["9882"],"URL":"https:\/\/doi.org\/10.1007\/s10514-019-09882-z","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,8,3]]},"assertion":[{"value":"20 August 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 July 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 August 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}