{"id":"https://openalex.org/W1572095855","doi":"https://doi.org/10.1109/aim.2015.7222624","title":"A hierarchical topological planner for multi-storey building navigation","display_name":"A hierarchical topological planner for multi-storey building navigation","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1572095855","doi":"https://doi.org/10.1109/aim.2015.7222624","mag":"1572095855"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"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/A5100363180","display_name":"Qun Zhang","orcid":"https://orcid.org/0000-0002-2773-3437"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qun Zhang","raw_affiliation_strings":["Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026068874","display_name":"Xiaojun Wu","orcid":"https://orcid.org/0000-0003-4988-5420"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaojun Wu","raw_affiliation_strings":["Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005698588","display_name":"Bingbing Liu","orcid":"https://orcid.org/0000-0002-5272-3425"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bingbing Liu","raw_affiliation_strings":["Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046243926","display_name":"Albertus Hendrawan Adiwahono","orcid":"https://orcid.org/0000-0001-5759-6309"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Albertus Hendrawan Adiwahono","raw_affiliation_strings":["Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","Robotics Programme, Institute for Infocomm Research, A*STAR, Singapore 138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Robotics Programme, Institute for Infocomm Research, A*STAR, Singapore 138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005275296","display_name":"Tran Anh Dung","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tran Anh Dung","raw_affiliation_strings":["Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","Robotics Programme, Institute for Infocomm Research, A*STAR, Singapore 138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Robotics Programme, Institute for Infocomm Research, A*STAR, Singapore 138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021305069","display_name":"Tai Wen Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tai Wen Chang","raw_affiliation_strings":["Autonomous Vehicle Programme, Institute for Infocomm Research, Agency for Science Technology and Research, Singapore, SG","Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, Agency for Science Technology and Research, Singapore, SG","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Programme, Institute for Infocomm Research, A*STAR, Singapore 138632","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"731","last_page":"736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7467470765113831},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6798955798149109},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6742218732833862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6700105667114258},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6632860898971558},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.597939670085907},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.536731481552124},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5141478180885315},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.49843382835388184},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4745674431324005},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.44258710741996765},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.4195009469985962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37680408358573914},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37265971302986145},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3293708860874176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17087331414222717},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12340575456619263},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.119047611951828}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7467470765113831},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6798955798149109},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6742218732833862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6700105667114258},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6632860898971558},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.597939670085907},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.536731481552124},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5141478180885315},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.49843382835388184},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4745674431324005},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.44258710741996765},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.4195009469985962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37680408358573914},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37265971302986145},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3293708860874176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17087331414222717},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12340575456619263},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.119047611951828},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2015.7222624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W72613748","https://openalex.org/W93878549","https://openalex.org/W1567193306","https://openalex.org/W1972267259","https://openalex.org/W1991328253","https://openalex.org/W2030021468","https://openalex.org/W2050781898","https://openalex.org/W2053123342","https://openalex.org/W2056749840","https://openalex.org/W2071185282","https://openalex.org/W2089331517","https://openalex.org/W2130422193","https://openalex.org/W2134556823","https://openalex.org/W2157392310","https://openalex.org/W2162359270","https://openalex.org/W6634211352","https://openalex.org/W7011524211"],"related_works":["https://openalex.org/W2908094156","https://openalex.org/W2950854291","https://openalex.org/W2030136595","https://openalex.org/W2016603148","https://openalex.org/W2055247968","https://openalex.org/W3172527413","https://openalex.org/W2576107656","https://openalex.org/W2142360609","https://openalex.org/W892968198","https://openalex.org/W2171919433"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,13,25,126],"hierarchical":[6],"path":[7,101],"planner":[8,23,109,150],"for":[9,151],"autonomous":[10],"navigation":[11],"of":[12,51,66,84,115,147],"tracked":[14],"robot":[15,45,98,134],"in":[16,99,125],"buildings":[17],"that":[18,30,95],"have":[19,143],"multiple":[20,26],"storeys.":[21],"The":[22,62],"utilizes":[24],"layered":[27],"topological":[28,33,90],"map":[29,68],"integrates":[31],"both":[32],"and":[34,113,140],"metrical":[35],"information":[36],"to":[37,46,131,135],"represent":[38,69],"the":[39,44,52,60,67,75,89,97,100,105,107,116,133,137,145,148],"multi-storey":[40,152],"environment,":[41],"which":[42],"allows":[43],"navigate":[47],"between":[48],"different":[49],"storeys":[50],"building":[53,153],"efficiently":[54],"while":[55,74],"avoiding":[56],"dynamic":[57],"obstacles":[58],"on":[59,82,104],"way.":[61],"high":[63],"semantic":[64,70],"levels":[65],"places":[71],"or":[72],"areas":[73],"low":[76],"level":[77],"metric":[78],"graph":[79],"is":[80,119],"created":[81],"top":[83],"an":[85,122],"occupancy":[86],"grid,":[87],"where":[88],"nodes":[91],"serve":[92],"as":[93,121],"waypoints":[94],"assist":[96],"planning.":[102],"Based":[103],"graph,":[106],"mission":[108],"plans":[110],"tasks":[111,118],"hierarchically":[112],"each":[114],"executing":[117],"implemented":[120],"active":[123],"state":[124],"Finite":[127],"State":[128],"Machine":[129],"(FSM)":[130],"control":[132],"complete":[136],"tasks.":[138],"Simulations":[139],"realistic":[141],"experiments":[142],"demonstrated":[144],"effectiveness":[146],"proposed":[149],"navigation.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}