{"id":"https://openalex.org/W2065940982","doi":"https://doi.org/10.2514/6.2013-5037","title":"Qualitative Relational Mapping for Planetary Rover Exploration","display_name":"Qualitative Relational Mapping for Planetary Rover Exploration","publication_year":2013,"publication_date":"2013-08-15","ids":{"openalex":"https://openalex.org/W2065940982","doi":"https://doi.org/10.2514/6.2013-5037","mag":"2065940982"},"language":"en","primary_location":{"id":"doi:10.2514/6.2013-5037","doi":"https://doi.org/10.2514/6.2013-5037","is_oa":false,"landing_page_url":"https://doi.org/10.2514/6.2013-5037","pdf_url":null,"source":{"id":"https://openalex.org/S4306501127","display_name":"AIAA Guidance, Navigation, and Control Conference and Exhibit","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"AIAA Guidance, Navigation, and Control (GNC) Conference","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"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/A5015949025","display_name":"Mark McClelland","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark McClelland","raw_affiliation_strings":["Cornell University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":"https://orcid.org/0000-0003-0775-4297","observed_orcids":["https://orcid.org/0000-0003-0775-4297"]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark E. Campbell","raw_affiliation_strings":["Cornell University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016286806","display_name":"Tara A. Estlin","orcid":"https://orcid.org/0000-0002-0411-1205","observed_orcids":["https://orcid.org/0000-0002-0411-1205"]},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tara Estlin","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3529,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87957573,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"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":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.00039999998989515007,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/qualitative-spatial-reasoning","display_name":"qualitative spatial reasoning","score":0.8939999938011169},{"id":"https://openalex.org/keywords/relational-mapping","display_name":"relational mapping","score":0.796999990940094},{"id":"https://openalex.org/keywords/qualitative-constraints","display_name":"qualitative constraints","score":0.5960000157356262},{"id":"https://openalex.org/keywords/camera-based-measurement","display_name":"camera-based measurement","score":0.6859999895095825}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6816394329071045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6474040746688843},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6201647520065308},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.5701934099197388},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.563046932220459},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5558145642280579},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5510134696960449},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.5448349714279175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5400728583335876},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5389858484268188},{"id":"https://openalex.org/C83725634","wikidata":"https://www.wikidata.org/wiki/Q7268699","display_name":"Qualitative reasoning","level":2,"score":0.4293992519378662},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.428516685962677},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3585793972015381},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29463279247283936},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.26336735486984253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12797275185585022},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12300264835357666},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08758652210235596},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2514/6.2013-5037","doi":"https://doi.org/10.2514/6.2013-5037","is_oa":false,"landing_page_url":"https://doi.org/10.2514/6.2013-5037","pdf_url":null,"source":{"id":"https://openalex.org/S4306501127","display_name":"AIAA Guidance, Navigation, and Control Conference and Exhibit","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"AIAA Guidance, Navigation, and Control (GNC) Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W125644130","https://openalex.org/W1507009174","https://openalex.org/W1526536257","https://openalex.org/W1567749508","https://openalex.org/W1593007803","https://openalex.org/W1601656708","https://openalex.org/W1656165940","https://openalex.org/W1836839941","https://openalex.org/W1976301832","https://openalex.org/W2000642309","https://openalex.org/W2024908906","https://openalex.org/W2087358611","https://openalex.org/W2113685147","https://openalex.org/W2115121549","https://openalex.org/W2125310925","https://openalex.org/W2131439959","https://openalex.org/W2152671441","https://openalex.org/W2152864241","https://openalex.org/W2183640398","https://openalex.org/W3149166261","https://openalex.org/W4302807930"],"related_works":["https://openalex.org/W2183640398","https://openalex.org/W2950140308","https://openalex.org/W2064177716","https://openalex.org/W6977551018","https://openalex.org/W17822983","https://openalex.org/W2419305999","https://openalex.org/W2099895264","https://openalex.org/W2259003521","https://openalex.org/W1978289112","https://openalex.org/W45189894"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,21,31,88,101,104,109],"novel":[4,61],"method":[5,63],"for":[6,100],"autonomous":[7],"robotic":[8],"qualitative":[9,35],"mapping":[10],"of":[11,20,24,34,52,57,77],"large":[12],"scale":[13],"spaces.":[14],"The":[15],"proposed":[16],"framework":[17],"makes":[18],"use":[19],"graphical":[22],"representation":[23],"the":[25,38,44,53,75,85],"world":[26],"in":[27,50],"order":[28],"to":[29],"build":[30],"map":[32,86],"consisting":[33],"constraints":[36],"on":[37,65,92],"relationships":[39,47],"between":[40],"objects":[41],"observed":[42],"by":[43],"robot.":[45],"These":[46],"are":[48,82,98],"represented":[49],"terms":[51],"relative":[54],"geometrical":[55],"layout":[56],"landmark":[58],"triplets.":[59],"A":[60],"measurement":[62],"based":[64,91],"camera":[66],"imagery":[67],"is":[68],"presented":[69,99],"which":[70],"extends":[71],"previous":[72],"work":[73],"from":[74],"field":[76],"Qualitative":[78],"Spatial":[79],"Reasoning.":[80],"Measurements":[81],"fused":[83],"into":[84],"using":[87],"deterministic":[89],"approach":[90],"iterative":[93],"graph":[94],"updates.":[95],"Experimental":[96],"results":[97],"robot":[102],"traversing":[103],"Mars-like":[105],"environment":[106],"while":[107],"building":[108],"relational":[110],"map.":[111]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2016-06-24T00:00:00"}