{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T20:17:52Z","timestamp":1771705072369,"version":"3.50.1"},"reference-count":57,"publisher":"Springer Science and Business Media LLC","issue":"1-2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2009,9]]},"DOI":"10.1007\/s10846-009-9318-x","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T02:58:01Z","timestamp":1236653881000},"page":"69-98","source":"Crossref","is-referenced-by-count":43,"title":["An Information Roadmap Method for Robotic Sensor Path Planning"],"prefix":"10.1007","volume":"56","author":[{"given":"G.","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Ferrari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Qian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2009,3,11]]},"reference":[{"key":"9318_CR1","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/0921-8890(94)00034-Y","volume":"14","author":"C Hofner","year":"1995","unstructured":"Hofner, C., Schmidt, G.: Path planning and guidance techniques for an autonomous mobile cleaning robot. Robot. Auton. Syst. 14, 199\u2013212 (1995)","journal-title":"Robot. Auton. Syst."},{"key":"9318_CR2","doi-asserted-by":"crossref","first-page":"441","DOI":"10.1177\/02783649030227002","volume":"22","author":"EU Acar","year":"2003","unstructured":"Acar, E.U.: Path planning for robotic demining: robust sensor-based coverage of unstructured environments and probabilistic methods. Int. J. Rob. Res. 22, 441\u2013466 (2003)","journal-title":"Int. J. Rob. Res."},{"key":"9318_CR3","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1117\/12.608436","volume":"5820","author":"C Kreucher","year":"2005","unstructured":"Kreucher, C., Kastella, K., Hero, A.: Multi-platform information-based sensor management. Proc. SPIE 5820, 141\u2013151 (2005)","journal-title":"Proc. SPIE"},{"key":"9318_CR4","doi-asserted-by":"crossref","unstructured":"Rao, N., Hareti, S., Shi, W., Iyengar, S.: Robot navigation in unknown terrains: introductory survey of non-heuristic algorithms. In: Technical Report ORNL\/TM-12410. Oak Ridge National Laboratory, Oak Ridge, TN (1993)","DOI":"10.2172\/10180101"},{"issue":"6","key":"9318_CR5","doi-asserted-by":"crossref","first-page":"947","DOI":"10.1109\/21.384257","volume":"25","author":"N Rao","year":"1995","unstructured":"Rao, N.: Robot navigation in unknown generalized polygonal terrains using vision sensors. IEEE Trans. Syst. Man Cybern. 25(6), 947\u2013962 (1995)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"9318_CR6","doi-asserted-by":"crossref","first-page":"287","DOI":"10.1016\/0004-3702(94)00079-G","volume":"76","author":"A Lazanas","year":"1995","unstructured":"Lazanas, A., Latombe, J.C.: Motion planning with uncertainty\u2014a landmark approach. Artif. Intell. 76, 287\u2013317 (1995)","journal-title":"Artif. Intell."},{"issue":"6","key":"9318_CR7","doi-asserted-by":"crossref","first-page":"870","DOI":"10.1109\/3477.809039","volume":"29","author":"K Song","year":"1999","unstructured":"Song, K., Chang, C.C.: Reactive navigation in dynamic environment using a multisensor predictor. IEEE Trans. Syst. Man Cybern., Part B 29(6), 870\u2013880 (1999)","journal-title":"IEEE Trans. Syst. Man Cybern., Part B"},{"key":"9318_CR8","doi-asserted-by":"crossref","unstructured":"Kazemi, M., Mehrandezh, M., Gupta, K.: Sensor-based robot path planning using harmonic function-based probabilistic roadmaps. In: Proc. ICAR \u201905, 12th International Conference on Advanced Robotics (2005)","DOI":"10.1109\/ICAR.2005.1507395"},{"issue":"4","key":"9318_CR9","doi-asserted-by":"crossref","first-page":"925","DOI":"10.1109\/TSMCB.2007.896021","volume":"37","author":"Z Sun","year":"2007","unstructured":"Sun, Z., Reif, J.: On robotic optimal path planning in polygonal regions with pseudo-eucledian metrics. IEEE Trans. Syst. Man Cybern., Part A 37(4), 925\u2013936 (2007)","journal-title":"IEEE Trans. Syst. Man Cybern., Part A"},{"issue":"6","key":"9318_CR10","doi-asserted-by":"crossref","first-page":"1541","DOI":"10.1109\/TSMCB.2007.906577","volume":"37","author":"X-C Lai","year":"2007","unstructured":"Lai, X.-C., Ge, S.-S., Al-Mamun, A.: Hierarchical incremental path planning and situation-dependent optimized dynamic motion planning considering accelerations. IEEE Trans. Syst. Man Cybern., Part A 37(6), 1541\u20131554 (2007)","journal-title":"IEEE Trans. Syst. Man Cybern., Part A"},{"issue":"1\u20134","key":"9318_CR11","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1023\/A:1016639210559","volume":"31","author":"H Choset","year":"2001","unstructured":"Choset, H.: Coverage for robotics: a survey of recent results. Ann. Math. Artif. Intell. 31(1\u20134), 113\u2013126 (2001)","journal-title":"Ann. Math. Artif. Intell."},{"issue":"4","key":"9318_CR12","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/MIM.2002.1048979","volume":"5","author":"R Siegel","year":"2002","unstructured":"Siegel, R.: Land mine detection. IEEE Instrum. Meas. Mag. 5(4), 22\u201328 (2002)","journal-title":"IEEE Instrum. Meas. Mag."},{"key":"9318_CR13","doi-asserted-by":"crossref","unstructured":"Ferrari, S., Cai, C., Fierro, R., Perteet, B.: A multi-objective optimization approach to detecting and tracking dynamic targets in pursuit-evasion games. In: Proc. of the 2007 American Control Conference, pp. 5316\u20135321. New York, NY (2007)","DOI":"10.1109\/ACC.2007.4282986"},{"issue":"8","key":"9318_CR14","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1109\/MC.2004.93","volume":"37","author":"D Culler","year":"2004","unstructured":"Culler, D., Estrin, D., Srivastava, M.: Overview of sensor networks. Computer 37(8), 41\u201349 (2004)","journal-title":"Computer"},{"key":"9318_CR15","doi-asserted-by":"crossref","unstructured":"Juang, P., Oki, H., Wang, Y., Martonosi, M., Peh, L., Rubenstein, D.: Energy efficient computing for wildlife tracking: design tradeoffs and early experiences with zebranet. In: Proc. 10th International Conference on Architectural Support for Programming Languages and Operating Systems (ASPLOS-X) (2002)","DOI":"10.1145\/605397.605408"},{"issue":"8","key":"9318_CR16","doi-asserted-by":"crossref","first-page":"961","DOI":"10.1109\/TPAMI.2004.38","volume":"26","author":"X Liao","year":"2004","unstructured":"Liao, X., Carin, L.: Application of the theory of optimal experiments to adaptive electromagnetic-induction sensing of buried targets. IEEE Trans. Pattern Anal. Mach. Intell. 26(8), 961\u2013972 (2004)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"1","key":"9318_CR17","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1177\/0278364903022001002","volume":"22","author":"JR Spletzer","year":"2003","unstructured":"Spletzer, J.R., Taylor, C.J.: Dynamic sensor planning and control for optimally tracking target. Int. J. Robot. Res. 22(1), 7\u201320 (2003)","journal-title":"Int. J. Robot. Res."},{"key":"9318_CR18","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1177\/027836499101000401","volume":"10","author":"GD Hager","year":"1991","unstructured":"Hager, G.D., Mintz, M.: Computational methods for task-directed sensor data fusion and sensor planning. Int. J. Robot. Res. 10, 285\u2013313 (1991)","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"9318_CR19","doi-asserted-by":"crossref","first-page":"393","DOI":"10.1109\/TSMCB.2003.817031","volume":"34","author":"SY Chen","year":"2004","unstructured":"Chen, S.Y., Li, Y.F.: Automatic sensor placement for model-based robot vision. IEEE Trans. Syst. Man Cybern., Part B 34(1), 393\u2013408 (2004)","journal-title":"IEEE Trans. Syst. Man Cybern., Part B"},{"issue":"5","key":"9318_CR20","doi-asserted-by":"crossref","first-page":"894","DOI":"10.1109\/TSMCB.2005.846907","volume":"35","author":"SY Chen","year":"2005","unstructured":"Chen, S.Y., Li, Y.F.: Vision sensor planning for 3cd model acquisition. IEEE Trans. Syst. Man Cybern., Part B 35(5), 894\u2013904 (2005)","journal-title":"IEEE Trans. Syst. Man Cybern., Part B"},{"key":"9318_CR21","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1016\/S0377-2217(97)00373-1","volume":"108","author":"E Gelenbe","year":"1998","unstructured":"Gelenbe, E., Cao, Y.: Autonomous search for mines. Eur. J. Oper. Res. 108, 319\u2013333 (1998)","journal-title":"Eur. J. Oper. Res."},{"key":"9318_CR22","doi-asserted-by":"crossref","unstructured":"Qian, M., Ferrari, S.: Probabilistic deployment for multiple sensor systems. In: Proc. of the 12th SPIE Symposium on Smart Structures and Materials: Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems, vol. 5765, pp. 85\u201396. San Diego (2005)","DOI":"10.1117\/12.601597"},{"issue":"6","key":"9318_CR23","doi-asserted-by":"crossref","first-page":"1105","DOI":"10.1109\/TRO.2005.853485","volume":"21","author":"Z Sun","year":"2005","unstructured":"Sun, Z., Hsu, D., Jiang, T., Kurniawati, H., Reif, J.H.: Narrow passage sampling for probabilistic roadmap planning. IEEE Trans. Robot. 21(6), 1105\u20131115 (2005)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"9318_CR24","doi-asserted-by":"crossref","first-page":"442","DOI":"10.1109\/70.864240","volume":"16","author":"NM Amato","year":"2000","unstructured":"Amato, N.M., Bayazit, O.B., Dale, L.K., Jones, C., Vallejo, D.: Choosing good distance metrics and local planners for probabilistic roadmap methods. IEEE Trans. Robot. Autom. 16(4), 442\u2013447 (2000)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9318_CR25","doi-asserted-by":"crossref","first-page":"1018","DOI":"10.1109\/ROBOT.1999.772447","volume":"2","author":"V Boor","year":"1999","unstructured":"Boor, V., Overmars, M.H., der Stappen, A.F.: The gaussian sampling strategy for probabilistic roadmap planners. Proc. Conf. Robot. Autom. 2, 1018\u20131023 (1999)","journal-title":"Proc. Conf. Robot. Autom."},{"issue":"4","key":"9318_CR26","doi-asserted-by":"crossref","first-page":"566","DOI":"10.1109\/70.508439","volume":"12","author":"LE Kavraki","year":"1996","unstructured":"Kavraki, L.E., Svetska, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration space. IEEE Trans. Robot. Autom 12(4), 566\u2013580 (1996)","journal-title":"IEEE Trans. Robot. Autom"},{"key":"9318_CR27","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1109\/79.985685","volume":"19","author":"F Zhao","year":"2002","unstructured":"Zhao, F., Shin, J., Reich, J.: Information-driven dynamic sensor collaboration. IEEE Signal Process. Mag. 19, 61\u201372 (2002)","journal-title":"IEEE Signal Process. Mag."},{"key":"9318_CR28","doi-asserted-by":"crossref","unstructured":"Schmaedeke, W.: Information based sensor management. In: Proc. SPIE Signal Processing, Sensor Fusion, and Target Recognition II (1993)","DOI":"10.1117\/12.154970"},{"issue":"1","key":"9318_CR29","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1109\/3468.553230","volume":"27","author":"K Kastella","year":"1997","unstructured":"Kastella, K.: Discrimination gain to optimize detection and classification. IEEE Trans. Syst. Man Cybern., Part A, Syst. Humans 27(1), 112\u2013116 (1997)","journal-title":"IEEE Trans. Syst. Man Cybern., Part A, Syst. Humans"},{"key":"9318_CR30","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1016\/j.sigpro.2004.11.004","volume":"85","author":"C Kreucher","year":"2005","unstructured":"Kreucher, C., Kastella, K., Hero, III, A.O.: Sensor management using an active sensing approach. Signal Process. 85, 607\u2013624 (2005)","journal-title":"Signal Process."},{"issue":"1","key":"9318_CR31","doi-asserted-by":"crossref","first-page":"2720","DOI":"10.1109\/TSP.2007.893747","volume":"55","author":"S Ji","year":"2007","unstructured":"Ji, S., Parr, R., Carin, L.: Nonmyopic multiaspect sensing with partially observable markov decision processes. IEEE Trans. Signal Process. 55(1), 2720\u20132730 (2007)","journal-title":"IEEE Trans. Signal Process."},{"key":"9318_CR32","doi-asserted-by":"crossref","unstructured":"Scrapper, C., Takeuchi, A.: Using a priori data for prediction and pbject recognition in an autonomous mobile vehicle. In: Proc. SPIE Unmanned Ground Vehicle Technology, vol. 5083 (2003)","DOI":"10.1117\/12.485917"},{"key":"9318_CR33","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4615-4022-9","volume-title":"Robot Motion Planning","author":"JC Latombe","year":"1991","unstructured":"Latombe, J.C.: Robot Motion Planning. Kluwer Academic, Boston (1991)"},{"key":"9318_CR34","first-page":"1796","volume-title":"A Scalable Optimizer for Automatically Generated Manipulator Motions","author":"S Berchtold","year":"1994","unstructured":"Berchtold, S., Glavina, B.: A Scalable Optimizer for Automatically Generated Manipulator Motions, pp. 1796\u20131802. M\u00fcnchen, Germany (1994)"},{"issue":"4","key":"9318_CR35","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1109\/TSMCC.2004.829266","volume":"34","author":"S Perrin","year":"2004","unstructured":"Perrin, S., Duflos, E., Vanheeghe, P., Bibaut, A.: Multisensor fusion in the frame of evidence theory for landmines detection. IEEE Trans. Syst. Man Cybern., Part C 34(4), 485\u2013498 (2004)","journal-title":"IEEE Trans. Syst. Man Cybern., Part C"},{"key":"9318_CR36","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1109\/JSEN.2006.870162","volume":"6","author":"S Ferrari","year":"2006","unstructured":"Ferrari, S., Vaghi, A.: Demining sensor modeling and feature-level fusion by bayesian networks. IEEE Sensors 6, 471\u2013483 (2006)","journal-title":"IEEE Sensors"},{"key":"9318_CR37","doi-asserted-by":"crossref","unstructured":"Cai, C., Ferrari, S., Ming, Q.: Bayesian network modeling of acoustic sensor measurements. In: Proc. IEEE Sensors, pp. 345\u2013348. Atlanta, GA (2007)","DOI":"10.1109\/ICSENS.2007.4388406"},{"key":"9318_CR38","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4757-3502-4","volume-title":"Bayesian Networks and Decision Graphs","author":"FV Jensen","year":"2001","unstructured":"Jensen, F.V.: Bayesian Networks and Decision Graphs. Springer, New York (2001)"},{"key":"9318_CR39","first-page":"197","volume":"20","author":"D Heckerman","year":"1995","unstructured":"Heckerman, D., Geiger, D., Chickering, D.M.: Learning bayesian networks: the combination of knowledge and statistical data. Mach. Learn. 20, 197\u2013243 (1995)","journal-title":"Mach. Learn."},{"key":"9318_CR40","unstructured":"Murphy, K.: How to use bayes net toolbox. [Online]. Available: http:\/\/www.ai.mit.edu\/~murphyk\/Software\/BNT\/bnt.html (2004)"},{"key":"9318_CR41","doi-asserted-by":"crossref","unstructured":"Cai, C. Ferrari, S.: Comparison of information-theoretic objective functions for decision support in sensor systems. In: Proc. American Control Conference, pp. 63\u2013133. New York, NY (2007)","DOI":"10.1109\/ACC.2007.4282852"},{"key":"9318_CR42","doi-asserted-by":"crossref","DOI":"10.1002\/0471200611","volume-title":"Elements of Information Theory","author":"TM Cover","year":"1991","unstructured":"Cover, T.M., Thomas, J.A.: Elements of Information Theory. Wiley, New York (1991)"},{"key":"9318_CR43","unstructured":"Stengel, R.F.: Optimal Control and Estimation. Dover (1994)"},{"issue":"2","key":"9318_CR44","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"PE Hart","year":"1968","unstructured":"Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Trans. Syst. Sci. Cybern. 4(2), 100\u2013107 (1968)","journal-title":"IEEE Trans. Syst. Sci. Cybern."},{"key":"9318_CR45","volume-title":"Principles of Artificial Intelligence","author":"NJ Nilsson","year":"1980","unstructured":"Nilsson, N.J.: Principles of Artificial Intelligence. Morgan Kaufmann, Los Altos, CA (1980)"},{"key":"9318_CR46","doi-asserted-by":"crossref","DOI":"10.1515\/9781400874651","volume-title":"Applied Dynamic Programming","author":"RE Bellman","year":"1962","unstructured":"Bellman, R.E., Dreyfus, S.E.: Applied Dynamic Programming. Princeton University Press, Princeton, NJ (1962)"},{"key":"9318_CR47","volume-title":"Artificial Intelligence A Modern Approach","author":"S Russell","year":"2003","unstructured":"Russell, S., Norvig, P.: Artificial Intelligence A Modern Approach. Prentice Hall, Upper Saddle River, NJ (2003)"},{"issue":"3","key":"9318_CR48","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1007\/s11220-006-0024-5","volume":"7","author":"DJ Daniels","year":"2006","unstructured":"Daniels, D.J.: A review of GPR for landmine detection. Sens. Imaging 7(3), 90\u2013123 (2006)","journal-title":"Sens. Imaging"},{"key":"9318_CR49","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1023\/A:1020399314530","volume":"3","author":"J Paik","year":"2002","unstructured":"Paik, J.: Image processing-based mine detection techniques using multiple sensors: a review. Subsurf. Sens. Technol. Appl. 3, 203\u2013252 (2002)","journal-title":"Subsurf. Sens. Technol. Appl."},{"key":"9318_CR50","volume-title":"Alternatives for Landmine Detection","author":"J MacDonald","year":"2003","unstructured":"MacDonald, J.: Alternatives for Landmine Detection. Rand, Sta Monica (2003)"},{"key":"9318_CR51","doi-asserted-by":"crossref","unstructured":"Dam, R.V., Borchers, B., Hendrickx, J., Hong, S.: Soil effects on thermal signatures of buried nonmetallic landmines. In: Detection and Remediation Technologies for Mines and Minelike Targets VIII. Proc. of the SPIE, vol. 5089, pp. 1210\u20131218 (2003)","DOI":"10.1117\/12.487205"},{"key":"9318_CR52","unstructured":"Explosive, Ordnance, Disposal, (EOD), and Technicians: ORDATA [Online]. Available: http:\/\/maic.jmu.edu\/ordata\/mission.asp (2006)"},{"issue":"4","key":"9318_CR53","doi-asserted-by":"crossref","first-page":"589","DOI":"10.1109\/72.701173","volume":"9","author":"R Fierro","year":"1998","unstructured":"Fierro, R., Lewis, F.: Control of nonholonomic mobile robot using neural networks. IEEE Trans. Neural Netw. 9(4), 589\u2013600 (1998)","journal-title":"IEEE Trans. Neural Netw."},{"key":"9318_CR54","first-page":"58","volume":"27","author":"D Cruz","year":"2007","unstructured":"Cruz, D., McClintock, J., Perteet, B., Orqueda, O., Cao, Y., Fierro, R.: Decentralized cooperative control\u2014a multivehicle platform for research in networked embedded systems. IEEE Control Syst. Mag. 27, 58\u201378 (2007)","journal-title":"IEEE Control Syst. Mag."},{"key":"9318_CR55","unstructured":"Vaghi, A.: Sensor management by a graphical model approach. Politecnico di Milano, Laurea Thesis (2004)"},{"key":"9318_CR56","unstructured":"Mathworks: Matlab [Online]. Available: http:\/\/www.mathworks.com (2004)"},{"issue":"1","key":"9318_CR57","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1016\/S0925-7721(00)00015-8","volume":"17","author":"E-M Arkin","year":"2000","unstructured":"Arkin, E.-M., Fekete, S.-P., Mitchell, J.-S.-B.: Approximation algorithms for lawn mowing and milling. Comput. Geom. 17(1), 25\u201350 (2000)","journal-title":"Comput. Geom."}],"container-title":["Journal of Intelligent and Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-009-9318-x.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:25:17Z","timestamp":1738988717000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-009-9318-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,11]]},"references-count":57,"journal-issue":{"issue":"1-2","published-print":{"date-parts":[[2009,9]]}},"alternative-id":["9318"],"URL":"https:\/\/doi.org\/10.1007\/s10846-009-9318-x","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,11]]}}}