{"id":"https://openalex.org/W175265658","doi":null,"title":"Complete Topological Mapping with Sparse Sensing","display_name":"Complete Topological Mapping with Sparse Sensing","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W175265658","mag":"175265658"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.132.4074","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.132.4074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rpi.edu/~whuang/research/papers/rpitr05-06.pdf","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"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/A5080986469","display_name":"Wesley H. Huang","orcid":"https://orcid.org/0000-0003-4143-1192","observed_orcids":["https://orcid.org/0000-0003-4143-1192"]},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wesley Huang","raw_affiliation_strings":["Rensselaer Polytechnic Institute"],"raw_orcid":"https://orcid.org/0000-0003-4143-1192","affiliations":[{"raw_affiliation_string":"Rensselaer Polytechnic Institute","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111484592","display_name":"Kristopher R. Beevers","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kristopher R. Beevers","raw_affiliation_strings":["Rensselaer Polytechnic Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rensselaer Polytechnic Institute","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":1.0006,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.79948556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.98580002784729,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.98580002784729,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.012600000016391277,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/topological-mapping","display_name":"topological mapping","score":0.9259999990463257},{"id":"https://openalex.org/keywords/sparse-sensing","display_name":"sparse sensing","score":0.8600000143051147},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"mobile robot navigation","score":0.7310000061988831},{"id":"https://openalex.org/keywords/l-infinity-distance","display_name":"L-infinity distance","score":0.8109999895095825},{"id":"https://openalex.org/keywords/omnidirectional-sensors","display_name":"omnidirectional sensors","score":0.7749999761581421},{"id":"https://openalex.org/keywords/soft-sensors","display_name":"soft sensors","score":0.9629999995231628},{"id":"https://openalex.org/keywords/exploration-of-unknown-environments","display_name":"unknown environment exploration","score":0.5360000133514404}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.6951123476028442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.631001353263855},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5903364419937134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5835535526275635},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5379183292388916},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.524603009223938},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.516221284866333},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.49034881591796875},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.48533645272254944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.457976758480072},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42242786288261414},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.36031845211982727},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19199979305267334},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14281299710273743},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.132.4074","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.132.4074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rpi.edu/~whuang/research/papers/rpitr05-06.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.61.1148","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.61.1148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rpi.edu/research/pdf/05-06.pdf","raw_type":"text"},{"id":"mag:175265658","doi":null,"is_oa":false,"landing_page_url":"http://cs.krisbeevers.com/research/mapping_techrep05.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1503247905","https://openalex.org/W1516660548","https://openalex.org/W1550098664","https://openalex.org/W1567193306","https://openalex.org/W1586173270","https://openalex.org/W1599888605","https://openalex.org/W1842375874","https://openalex.org/W1967005434","https://openalex.org/W1978289112","https://openalex.org/W2015751084","https://openalex.org/W2022344379","https://openalex.org/W2048422125","https://openalex.org/W2050037634","https://openalex.org/W2060513624","https://openalex.org/W2090939882","https://openalex.org/W2106237563","https://openalex.org/W2117865053","https://openalex.org/W2130415085","https://openalex.org/W2136247341","https://openalex.org/W2142362566","https://openalex.org/W2147224017","https://openalex.org/W2149536402","https://openalex.org/W2153852998","https://openalex.org/W2157145031","https://openalex.org/W2167530999","https://openalex.org/W2183246121","https://openalex.org/W2248352735"],"related_works":["https://openalex.org/W2183246121","https://openalex.org/W2293509456","https://openalex.org/W1597046335","https://openalex.org/W4393869252","https://openalex.org/W7095823957","https://openalex.org/W2140079777","https://openalex.org/W2568312006","https://openalex.org/W2963261125","https://openalex.org/W7099870332","https://openalex.org/W2117865053"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"algorithms":[3],"for":[4,157],"a":[5,14,22,84,112,135],"mobile":[6],"robot":[7,44,113],"with":[8,103,114],"sparse,":[9],"short-range":[10,117],"sensing":[11,57,131],"to":[12,101,119,128],"create":[13],"topological":[15,78],"map":[16],"of":[17,25,32,70,86,146,160,176],"an":[18,115,162],"unknown":[19],"environment.":[20,165],"While":[21],"limited":[23],"array":[24],"sensors":[26],"is":[27,39,99],"appealing":[28],"from":[29],"the":[30,43,60,71,82,87,94,121,129,144,147,158,169,174],"standpoint":[31],"having":[33],"simpler":[34],"and":[35,123,142,172],"cheaper":[36],"hardware,":[37],"mapping":[38,62,161,170],"more":[40],"difficult":[41],"because":[42],"cannot":[45],"guarantee":[46],"it":[47],"will":[48],"detect":[49],"obstacles":[50,141],"as":[51,53],"soon":[52],"they":[54],"enter":[55],"its":[56],"range.":[58],"Thus,":[59],"robot's":[61],"strategy":[63],"must":[64],"ensure":[65],"that":[66,110,138,152],"all":[67],"relevant":[68],"parts":[69],"environment":[72],"are":[73,155],"observed.":[74],"Our":[75],"approach":[76],"constructs":[77],"maps":[79],"based":[80],"on":[81],"SGVD\u221e,":[83,122],"version":[85],"saturated":[88],"generalized":[89],"Voronoi":[90],"diagram":[91],"defined":[92],"under":[93],"L\u221e":[95],"distance":[96],"metric,":[97],"which":[98],"well-suited":[100],"robots":[102],"sparse":[104,130],"sensing.":[105],"We":[106,150,166],"first":[107],"describe":[108],"behaviors":[109,127,154,171],"allow":[111],"omnidirectional":[116,148],"sensor":[118],"trace":[120],"then":[124],"extend":[125],"these":[126],"case":[132],"by":[133],"introducing":[134],"\"virtual":[136],"sensor\"":[137],"tracks":[139],"unseen":[140],"emulates":[143],"output":[145],"sensor.":[149],"show":[151],"our":[153],"complete":[156],"problem":[159],"arbitrary":[163],"rectilinear":[164],"have":[167],"implemented":[168],"report":[173],"results":[175],"simulated":[177],"experiments.":[178]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
