{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T03:31:19Z","timestamp":1768534279348,"version":"3.49.0"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,2,20]],"date-time":"2020-02-20T00:00:00Z","timestamp":1582156800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,2,20]],"date-time":"2020-02-20T00:00:00Z","timestamp":1582156800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,7]]},"DOI":"10.1007\/s10846-019-01119-6","type":"journal-article","created":{"date-parts":[[2020,2,20]],"date-time":"2020-02-20T08:02:47Z","timestamp":1582185767000},"page":"91-113","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Improving Autonomous Exploration Using Reduced Approximated Generalized Voronoi Graphs"],"prefix":"10.1007","volume":"99","author":[{"given":"Lin","family":"Li","sequence":"first","affiliation":[]},{"given":"Xinkai","family":"Zuo","sequence":"additional","affiliation":[]},{"given":"Huixiang","family":"Peng","sequence":"additional","affiliation":[]},{"given":"Fan","family":"Yang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2503-0700","authenticated-orcid":false,"given":"Haihong","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Dalin","family":"Li","sequence":"additional","affiliation":[]},{"given":"Jun","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Fei","family":"Su","sequence":"additional","affiliation":[]},{"given":"Yifan","family":"Liang","sequence":"additional","affiliation":[]},{"given":"Gang","family":"Zhou","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,2,20]]},"reference":[{"issue":"3","key":"1119_CR1","doi-asserted-by":"publisher","first-page":"376","DOI":"10.1109\/TRO.2004.839232","volume":"21","author":"W Burgard","year":"2005","unstructured":"Burgard, W., Moors, M., Stachniss, C., et al.: Coordinated multi-robot exploration[J]. IEEE Trans. Robot. 21(3), 376\u2013386 (2005)","journal-title":"IEEE Trans. Robot."},{"key":"1119_CR2","unstructured":"Stachniss, C., Hahnel, D., Burgard, W.: Exploration with active loop-closing for FastSLAM[C]. Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE\/RSJ International Conference on. IEEE, 2, 1505\u20131510 (2004)"},{"key":"1119_CR3","unstructured":"Stachniss, C., Burgard, W.: Mapping and exploration with mobile robots using coverage maps[C]. Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE\/RSJ International Conference on. IEEE, 1, 467\u2013472 (2003)"},{"key":"1119_CR4","unstructured":"Calisi, D., Farinelli, A., Iocchi, L., et al.: Autonomous navigation and exploration in a rescue environment[C]. Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International. IEEE, 54\u201359 (2005)"},{"issue":"4","key":"1119_CR5","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1007\/s10514-011-9249-9","volume":"31","author":"N Basilico","year":"2011","unstructured":"Basilico, N., Amigoni, F.: Exploration strategies based on multi-criteria decision making for searching environments in rescue operations[J]. Auton. Robot. 31(4), 401 (2011)","journal-title":"Auton. Robot."},{"key":"1119_CR6","unstructured":"Low, K.L., Lastra, A.: An adaptive hierarchical next-best-view algorithm for 3d reconstruction of indoor scenes[C]. Proceedings of 14th Pacific Conference on Computer Graphics and Applications (Pacific Graphics 2006), 1\u20138 (2006)"},{"issue":"4","key":"1119_CR7","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1016\/j.aei.2016.08.003","volume":"30","author":"B Quintana","year":"2016","unstructured":"Quintana, B., Prieto, S.A., Ad\u00e1n, A., et al.: Semantic scan planning for indoor structural elements of buildings[J]. Adv. Eng. Inform. 30(4), 643\u2013659 (2016)","journal-title":"Adv. Eng. Inform."},{"issue":"1","key":"1119_CR8","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/TRO.2006.889486","volume":"23","author":"G Grisetti","year":"2007","unstructured":"Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters[J]. IEEE Trans. Robot. 23(1), 34\u201346 (2007)","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"1119_CR9","doi-asserted-by":"publisher","first-page":"1400","DOI":"10.3390\/s19061400","volume":"19","author":"M Kulich","year":"2019","unstructured":"Kulich, M., Kubal\u00edk, J., P\u0159eu\u010dil, L.: An integrated approach to goal selection in Mobile robot exploration[J]. Sensors. 19(6), 1400 (2019)","journal-title":"Sensors"},{"key":"1119_CR10","unstructured":"Yamauchi, B.: A frontier-based approach for autonomous exploration[C]. Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings 1997 IEEE International Symposium on. IEEE, 146\u2013151 (1997)"},{"issue":"10\u201311","key":"1119_CR11","doi-asserted-by":"publisher","first-page":"829","DOI":"10.1177\/0278364902021010834","volume":"21","author":"HH Gonz\u00e1lez-Banos","year":"2002","unstructured":"Gonz\u00e1lez-Banos, H.H., Latombe, J.C.: Navigation strategies for exploring indoor environments[J]. Int. J. Robot. Res. 21(10\u201311), 829\u2013848 (2002)","journal-title":"Int. J. Robot. Res"},{"key":"1119_CR12","first-page":"113","volume-title":"Beyond Frontier Exploration[C]. Robot Soccer World Cup","author":"A Visser","year":"2007","unstructured":"Visser, A., Van Ittersum, M., Jaime, L.A.G., et al.: Beyond Frontier Exploration[C]. Robot Soccer World Cup, pp. 113\u2013123. Springer, Berlin\/Heidelberg (2007)"},{"key":"1119_CR13","first-page":"65","volume":"2","author":"C Stachniss","year":"2005","unstructured":"Stachniss, C., Grisetti, G., Burgard, W.: Information gain-based exploration using rao-blackwellized particle filters[C]. Robot. Sci. Syst. 2, 65\u201372 (2005)","journal-title":"Robot. Sci. Syst."},{"key":"1119_CR14","doi-asserted-by":"publisher","first-page":"68","DOI":"10.1016\/j.robot.2014.08.009","volume":"69","author":"J Vallv\u00e9","year":"2015","unstructured":"Vallv\u00e9, J., Andrade-Cetto, J.: Potential information fields for mobile robot exploration[J]. Robot. Auton. Syst. 69, 68\u201379 (2015)","journal-title":"Robot. Auton. Syst."},{"key":"1119_CR15","doi-asserted-by":"crossref","unstructured":"Carrillo, H., Dames, P., Kumar, V., et al.: Autonomous robotic exploration using occupancy grid maps and graph SLAM based on Shannon and R\u00e9nyi entropy[C]. 2015 IEEE international conference on robotics and automation (ICRA). IEEE, 487\u2013494 (2015)","DOI":"10.1109\/ICRA.2015.7139224"},{"issue":"2","key":"1119_CR16","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1007\/s10514-017-9662-9","volume":"42","author":"H Carrillo","year":"2018","unstructured":"Carrillo, H., Dames, P., Kumar, V., et al.: Autonomous robotic exploration using a utility function based on R\u00e9nyi\u2019s general theory of entropy[J]. Auton. Robot. 42(2), 235\u2013256 (2018)","journal-title":"Auton. Robot."},{"key":"1119_CR17","unstructured":"Peng Cheng, S.M. LaValle.: Resolution complete rapidly-exploring random trees[C]\/\/ Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. IEEE (2002)"},{"key":"1119_CR18","doi-asserted-by":"crossref","unstructured":"Umari, H., Mukhopadhyay, S.: Autonomous robotic exploration based on multiple rapidly-exploring randomized trees[C]. 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 1396\u20131402 (2017)","DOI":"10.1109\/IROS.2017.8202319"},{"issue":"2","key":"1119_CR19","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1007\/s10846-016-0434-0","volume":"87","author":"EG Tsardoulias","year":"2017","unstructured":"Tsardoulias, E.G., Iliakopoulou, A., Kargakos, A., et al.: Cost-based target selection techniques towards full space exploration and coverage for USAR applications in a priori unknown environments[J]. J. Intell. Robot. Syst. 87(2), 313\u2013340 (2017)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1119_CR20","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/S0004-3702(97)00078-7","volume":"99","author":"S Thrun","year":"1998","unstructured":"Thrun, S.: Learning metric-topological maps for indoor mobile robot navigation[J]. Artif. Intell. 99(1), 21\u201371 (1998)","journal-title":"Artif. Intell."},{"key":"1119_CR21","unstructured":"Howie Choset, J.B.: Sensor based planning, Part I: The generalized Voronoi graph[C]. IEEE International Conference on Robotics & Automation. IEEE (1995)"},{"key":"1119_CR22","unstructured":"Nagatani, K., Choset, H.: Toward robust sensor-based exploration by constructing reduced generalized Voronoi graph[C]. IEEE\/RSJ International Conference on Intelligent Robots & Systems. IEEE (1999)"},{"issue":"2","key":"1119_CR23","doi-asserted-by":"publisher","first-page":"96","DOI":"10.1177\/02783640022066770","volume":"19","author":"H Choset","year":"2000","unstructured":"Choset, H.: Sensor-based exploration: the hierarchical generalized Voronoi graph[J]. Int. J. Robot. Res. 19(2), 96\u2013125 (2000)","journal-title":"Int. J. Robot. Res."},{"issue":"3\u20134","key":"1119_CR24","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1007\/s10514-010-9200-5","volume":"29","author":"J Kim","year":"2010","unstructured":"Kim, J., Zhang, F., Egerstedt, M.: A provably complete exploration strategy by constructing Voronoi diagrams[J]. Auton. Robot. 29(3\u20134), 367\u2013380 (2010)","journal-title":"Auton. Robot."},{"key":"1119_CR25","doi-asserted-by":"crossref","unstructured":"Lau, B., Sprunk, C., Burgard, W.: Improved updating of Euclidean distance maps and Voronoi diagrams[C]. Intelligent Robots and Systems (IROS), 2010 IEEE\/RSJ International Conference on. IEEE, 281\u2013286 (2010)","DOI":"10.1109\/IROS.2010.5650794"},{"issue":"3\u20134","key":"1119_CR26","doi-asserted-by":"publisher","first-page":"457","DOI":"10.1007\/s10846-013-9995-3","volume":"75","author":"EG Tsardoulias","year":"2014","unstructured":"Tsardoulias, E.G., Serafi, A.T., Panourgia, M.N., et al.: Construction of minimized topological graphs on occupancy grid maps based on GVD and sensor coverage information[J]. J. Intell. Robot. Syst. 75(3\u20134), 457\u2013474 (2014)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1\u20134","key":"1119_CR27","doi-asserted-by":"publisher","first-page":"829","DOI":"10.1007\/s10846-016-0362-z","volume":"84","author":"EG Tsardoulias","year":"2016","unstructured":"Tsardoulias, E.G., Iliakopoulou, A., Kargakos, A., et al.: A review of global path planning methods for occupancy grid maps regardless of obstacle density[J]. J. Intell. Robot. Syst. 84(1\u20134), 829\u2013858 (2016)","journal-title":"J. Intell. Robot. Syst."},{"issue":"4","key":"1119_CR28","doi-asserted-by":"publisher","first-page":"111","DOI":"10.1109\/MRA.2013.2248309","volume":"20","author":"A Valero-Gomez","year":"2013","unstructured":"Valero-Gomez, A., Gomez, J.V., Garrido, S., et al.: The path to efficiency: fast marching method for safer, more efficient mobile robot trajectories[J]. IEEE Robot. Autom. Mag. 20(4), 111\u2013120 (2013)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"2","key":"1119_CR29","doi-asserted-by":"publisher","first-page":"150","DOI":"10.1109\/70.88035","volume":"5","author":"O Takahashi","year":"1989","unstructured":"Takahashi, O., Schilling, R.: Motion planning in a plane using generalized Voronoi diagrams[J]. IEEE Trans. Robot. Autom. 5(2), 150 (1989)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"1119_CR30","first-page":"512","volume":"147","author":"H Choset","year":"2005","unstructured":"Choset, H., Lynch, K., Hutchinson, S., et al.: Principles of robot motion: theory, algorithms, and implementations. MIT Press, Cambridge, MA[J]. Proc. Soc. Exper. Biol. Med. 147(1), 512\u2013512 (2005)","journal-title":"Proc. Soc. Exper. Biol. Med."},{"issue":"3","key":"1119_CR31","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1145\/357994.358023","volume":"27","author":"TY Zhang","year":"1984","unstructured":"Zhang, T.Y., Suen, C.Y., Suen, C.Y.: A fast parallel algorithm for thinning digital patterns. Commun. ACM. 27(3), 236\u2013239 (1984)","journal-title":"Commun. ACM"},{"key":"1119_CR32","doi-asserted-by":"crossref","unstructured":"Saeed, K., Rybnik, M., Tabedzki, M.: Implementation and Advanced Results on the Non-interrupted Skeletonization Algorithm[C]. International Conference on Computer Analysis of Images and Patterns, pp. 601\u2013609. Springer, Berlin\/Heidelberg (2001)","DOI":"10.1007\/3-540-44692-3_72"},{"issue":"2","key":"1119_CR33","doi-asserted-by":"publisher","first-page":"317","DOI":"10.2478\/v10006-010-0024-4","volume":"20","author":"K Saeed","year":"2010","unstructured":"Saeed, K., Tab\u0119dzki, M., Rybnik, M., et al.: K3M: A universal algorithm for image skeletonization and a review of thinning techniques[J]. Int. J. Appl. Math. Comput. Sci. 20(2), 317\u2013335 (2010)","journal-title":"Int. J. Appl. Math. Comput. Sci."},{"key":"1119_CR34","unstructured":"Hershberger, J.E, Snoeyink, J.: Speeding up the Douglas-Peucker Line-Simplification Algorithm[M]. University of British Columbia, Department of Computer Science (1992)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01119-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01119-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01119-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,2,19]],"date-time":"2021-02-19T19:34:06Z","timestamp":1613763246000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01119-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,20]]},"references-count":34,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,7]]}},"alternative-id":["1119"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01119-6","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,2,20]]},"assertion":[{"value":"8 August 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 November 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 February 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare no conflicts of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}}]}}