{"id":"https://openalex.org/W3207424168","doi":"https://doi.org/10.1109/icra48506.2021.9561767","title":"Autonomous Cooperative Visual Navigation for Planetary Exploration Robots","display_name":"Autonomous Cooperative Visual Navigation for Planetary Exploration Robots","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207424168","doi":"https://doi.org/10.1109/icra48506.2021.9561767","mag":"3207424168"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561767","doi":"https://doi.org/10.1109/icra48506.2021.9561767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561767","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Autonomous_cooperative_visual_navigation_for_planetary_exploration_robots/22303432","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065109096","display_name":"Masoud Sotoodeh Bahraini","orcid":"https://orcid.org/0000-0002-3692-2168","observed_orcids":["https://orcid.org/0000-0002-3692-2168"]},"institutions":[{"id":"https://openalex.org/I170905427","display_name":"Sirjan University of Technology","ror":"https://ror.org/023tdry64","country_code":"IR","type":"education","lineage":["https://openalex.org/I170905427"]},{"id":"https://openalex.org/I180825142","display_name":"City, University of London","ror":"https://ror.org/04489at23","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I180825142","https://openalex.org/I4401726869"]},{"id":"https://openalex.org/I4401726869","display_name":"City St George's, University of London","ror":"https://ror.org/047ybhc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I4401726869"]}],"countries":["GB","IR"],"is_corresponding":false,"raw_author_name":"Masoud S. Bahraini","raw_affiliation_strings":["City University of London,Department of Electrical and Electronic Engineering,London,UK,EC1V 0HB","Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of London,Department of Electrical and Electronic Engineering,London,UK,EC1V 0HB","institution_ids":["https://openalex.org/I180825142","https://openalex.org/I4401726869"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran","institution_ids":["https://openalex.org/I170905427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081682547","display_name":"Abdelhafid Zenati","orcid":"https://orcid.org/0000-0001-9178-3714","observed_orcids":["https://orcid.org/0000-0001-9178-3714","https://orcid.org/0000-0002-9029-3219"]},"institutions":[{"id":"https://openalex.org/I180825142","display_name":"City, University of London","ror":"https://ror.org/04489at23","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I180825142","https://openalex.org/I4401726869"]},{"id":"https://openalex.org/I4401726869","display_name":"City St George's, University of London","ror":"https://ror.org/047ybhc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I4401726869"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Abdelhafid Zenati","raw_affiliation_strings":["City University of London,Department of Electrical and Electronic Engineering,London,UK,EC1V 0HB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of London,Department of Electrical and Electronic Engineering,London,UK,EC1V 0HB","institution_ids":["https://openalex.org/I180825142","https://openalex.org/I4401726869"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091297058","display_name":"Nabil Aouf","orcid":"https://orcid.org/0000-0001-9291-4077","observed_orcids":["https://orcid.org/0000-0001-9291-4077"]},"institutions":[{"id":"https://openalex.org/I180825142","display_name":"City, University of London","ror":"https://ror.org/04489at23","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I180825142","https://openalex.org/I4401726869"]},{"id":"https://openalex.org/I4401726869","display_name":"City St George's, University of London","ror":"https://ror.org/047ybhc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I4401726869"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nabil Aouf","raw_affiliation_strings":["City University of London,Department of Electrical and Electronic Engineering,London,UK,EC1V 0HB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of London,Department of Electrical and Electronic Engineering,London,UK,EC1V 0HB","institution_ids":["https://openalex.org/I180825142","https://openalex.org/I4401726869"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1086,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.88413411,"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":"9653","last_page":"9658"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planetary-exploration-robots","display_name":"planetary exploration robots","score":0.7889999747276306},{"id":"https://openalex.org/keywords/visual-navigation","display_name":"visual navigation","score":0.6159999966621399},{"id":"https://openalex.org/keywords/robot-localization","display_name":"robot localization","score":0.7570000290870667},{"id":"https://openalex.org/keywords/loop-closure-detection","display_name":"loop closure detection","score":0.7919999957084656},{"id":"https://openalex.org/keywords/multi-robot-cooperation","display_name":"multi-robot cooperation","score":0.6840000152587891},{"id":"https://openalex.org/keywords/gps-denied-environments","display_name":"GPS-denied environments","score":0.6769999861717224},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7801846265792847},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7702182531356812},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.6790406703948975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6496174335479736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6265043020248413},{"id":"https://openalex.org/C51244244","wikidata":"https://www.wikidata.org/wiki/Q634","display_name":"Planet","level":2,"score":0.625778317451477},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5556377172470093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45999228954315186},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4521430432796478},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.437051385641098},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4103141129016876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561767","doi":"https://doi.org/10.1109/icra48506.2021.9561767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561767","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:openaccess.city.ac.uk:31528","doi":null,"is_oa":false,"landing_page_url":"https://openaccess.city.ac.uk/view/creators_id/abdelhafid=2Ezenati.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4306401940","display_name":"City Research Online (City University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I180825142","host_organization_name":"City, University of London","host_organization_lineage":["https://openalex.org/I180825142"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:figshare.com:article/22303432","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Autonomous_cooperative_visual_navigation_for_planetary_exploration_robots/22303432","pdf_url":null,"source":{"id":"https://openalex.org/S4306402585","display_name":"Loughborough University Research Repository (Loughborough University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I143804889","host_organization_name":"Loughborough University","host_organization_lineage":["https://openalex.org/I143804889"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference contribution"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/18ae3a7c-8ae6-441e-9f8e-f24eae9fe159","doi":null,"is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/18ae3a7c-8ae6-441e-9f8e-f24eae9fe159","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sotoodeh Bahraini, M, Zenati, A & Aouf, N 2021, Autonomous cooperative visual navigation for planetary exploration robots. in 2021 IEEE International Conference on Robotics and Automation (ICRA)., 9561767, IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), pp. 9653-9658, 2021 IEEE International Conference on Robotics and Automation, Xi\u2019an , China, 30/05/21. https://doi.org/10.1109/ICRA48506.2021.9561767","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/22303432","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Autonomous_cooperative_visual_navigation_for_planetary_exploration_robots/22303432","pdf_url":null,"source":{"id":"https://openalex.org/S4306402585","display_name":"Loughborough University Research Repository (Loughborough University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I143804889","host_organization_name":"Loughborough University","host_organization_lineage":["https://openalex.org/I143804889"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference contribution"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W94473808","https://openalex.org/W1559224780","https://openalex.org/W1584640914","https://openalex.org/W1968476072","https://openalex.org/W2046434485","https://openalex.org/W2051851834","https://openalex.org/W2073241218","https://openalex.org/W2106749552","https://openalex.org/W2125992128","https://openalex.org/W2150784409","https://openalex.org/W2158305272","https://openalex.org/W2159888586","https://openalex.org/W2416515078","https://openalex.org/W2544243493","https://openalex.org/W2586301170","https://openalex.org/W2748135585","https://openalex.org/W2750632489","https://openalex.org/W2759601165","https://openalex.org/W2777964604","https://openalex.org/W2787275879","https://openalex.org/W2788608285","https://openalex.org/W2906636743","https://openalex.org/W2907376263","https://openalex.org/W2943745982","https://openalex.org/W2955488403","https://openalex.org/W2959070861","https://openalex.org/W2961764720","https://openalex.org/W2965618119","https://openalex.org/W2969608721","https://openalex.org/W2989150256","https://openalex.org/W3088125679","https://openalex.org/W4287774833"],"related_works":["https://openalex.org/W6999859776","https://openalex.org/W2089127238","https://openalex.org/W2127995716","https://openalex.org/W4379875204","https://openalex.org/W7057805112","https://openalex.org/W2064327873","https://openalex.org/W3173526862","https://openalex.org/W2193260280","https://openalex.org/W4401414282","https://openalex.org/W4300036504"],"abstract_inverted_index":{"Planetary":[0],"robotics":[1],"navigation":[2],"has":[3],"attracted":[4],"the":[5,18,28,43,47,59,109,120,128,133,148,151,157,165],"great":[6],"attention":[7],"of":[8,17,30,72,136,150,159,167],"many":[9],"researchers":[10],"in":[11,27,46,92],"recent":[12],"years.":[13],"Localization":[14],"is":[15,65,81,125,144],"one":[16],"most":[19],"important":[20],"problems":[21],"for":[22,83],"robots":[23,33,73],"on":[24,55,74],"another":[25,56,75],"planet":[26],"lack":[29],"GPS.":[31],"The":[32,154],"need":[34],"to":[35,38,50,67,88,146,162],"be":[36],"able":[37],"know":[39],"their":[40],"location":[41],"and":[42,52,101,111,132],"surrounding":[44],"map":[45],"environment":[48,95],"concurrently,":[49],"work":[51],"communicate":[53],"together":[54],"planet.":[57,76],"In":[58],"current":[60],"work,":[61],"a":[62,70,78,93,123,139],"novel":[63],"algorithm":[64,80],"designed":[66],"cooperatively":[68],"localize":[69,89],"team":[71],"Consequently,":[77],"robust":[79],"developed":[82],"cooperative":[84,130,160],"Visual":[85],"Odometry":[86],"(VO)":[87],"each":[90],"robot":[91,110],"planetary":[94,140],"while":[96],"detecting":[97],"both":[98],"intra-loop":[99],"closure":[100],"inter-loop":[102],"closures":[103],"using":[104],"previously":[105],"observed":[106],"area":[107,113],"by":[108],"shared":[112],"from":[114],"other":[115],"robots,":[116],"respectively.":[117],"To":[118],"validate":[119],"proposed":[121,129,152],"algorithm,":[122],"comparison":[124],"provided":[126],"between":[127],"VO":[131,161],"single":[134],"version":[135],"VO.":[137],"Accordingly,":[138],"analogue":[141],"real":[142],"dataset":[143],"employed":[145],"investigate":[147],"accuracy":[149,166],"algorithm.":[153],"results":[155],"promise":[156],"concept":[158],"significantly":[163],"increase":[164],"localization.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2021-10-25T00:00:00"}