{"id":"W3213888950","doi":"10.3390/s21227562","title":"A Novel Occupancy Mapping Framework for Risk-Aware Path Planning in Unstructured Environments","year":2021,"lang":"en","type":"article","venue":"Sensors","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":9,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Agence Nationale de la Recherche","keywords":"Motion planning; Obstacle; Computer science; Metric (unit); Path (computing); Context (archaeology); Probabilistic logic; Field (mathematics); Robot; Trajectory; Artificial intelligence; Data mining; Mathematics; Engineering; Geography","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002315939,0.00020525,0.0002660576,0.0001188412,0.0001390535,0.00009051698,0.0004432808,0.0001667461,0.000003941691],"category_scores_gemma":[0.0003906246,0.0002166642,0.00008063181,0.0004280317,0.00002826032,0.0001329495,0.0001741293,0.0003706358,0.00001578097],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0000861868,"about_ca_system_score_gemma":0.00006831609,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00001796421,"about_ca_topic_score_gemma":6.480907e-7,"domain_scores_codex":[0.9982048,0.00008005064,0.0003070534,0.000629261,0.0002789633,0.0004998475],"domain_scores_gemma":[0.9987473,0.000361356,0.0001716593,0.000595894,0.00002259979,0.0001011396],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000055465,0.0004428391,0.2111058,0.0002130588,0.0002672494,0.002211252,0.03519573,0.6509776,0.007771825,0.01052739,0.0006943098,0.08053752],"study_design_scores_gemma":[0.001071915,0.00004291729,0.1407049,0.0004464391,0.00001157368,0.0001144899,0.0007676806,0.8459145,0.001574256,0.00747848,0.001354969,0.0005179284],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.09690346,0.0001336023,0.9018077,0.0001496695,0.0006518564,0.000180021,0.00003258695,0.00008519809,0.00005594074],"genre_scores_gemma":[0.1961782,0.000007635836,0.8034084,0.0001617508,0.00009747488,0.00001504533,0.00001430712,0.00001838014,0.00009880088],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.1949369,"threshold_uncertainty_score":0.8835312,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03059306056521783,"score_gpt":0.2730078055822843,"score_spread":0.2424147450170664,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}