{"id":"https://openalex.org/W4315471996","doi":"https://doi.org/10.1109/cdc51059.2022.9992656","title":"GTP-SLAM: Game-Theoretic Priors for Simultaneous Localization and Mapping in Multi-Agent Scenarios","display_name":"GTP-SLAM: Game-Theoretic Priors for Simultaneous Localization and Mapping in Multi-Agent Scenarios","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315471996","doi":"https://doi.org/10.1109/cdc51059.2022.9992656"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992656","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","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/A5001188423","display_name":"Chih-Yuan Chiu","orcid":"https://orcid.org/0000-0002-2217-3418"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chih-Yuan Chiu","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070827615","display_name":"David Fridovich-Keil","orcid":"https://orcid.org/0000-0002-5866-6441"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Fridovich-Keil","raw_affiliation_strings":["The University of Texas at Austin,Department of Aerospace Engineering,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Aerospace Engineering,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001188423"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.5548,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63327882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"247","last_page":"252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9976999759674072,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7717810273170471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7019531726837158},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6649819612503052},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6006518602371216},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5335747599601746},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.513209342956543},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4801439940929413},{"id":"https://openalex.org/keywords/fictitious-play","display_name":"Fictitious play","score":0.4704289436340332},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4238699674606323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4192749857902527},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3582022190093994},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34819480776786804},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.3047712743282318},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21349823474884033},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.17116382718086243},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16947591304779053},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10147714614868164}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7717810273170471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7019531726837158},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6649819612503052},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6006518602371216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5335747599601746},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.513209342956543},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4801439940929413},{"id":"https://openalex.org/C145071142","wikidata":"https://www.wikidata.org/wiki/Q1411116","display_name":"Fictitious play","level":3,"score":0.4704289436340332},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4238699674606323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4192749857902527},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3582022190093994},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34819480776786804},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.3047712743282318},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21349823474884033},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.17116382718086243},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16947591304779053},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10147714614868164},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992656","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W1975236902","https://openalex.org/W2046164988","https://openalex.org/W2055300044","https://openalex.org/W2062697270","https://openalex.org/W2064169939","https://openalex.org/W2082644477","https://openalex.org/W2118429180","https://openalex.org/W2182229738","https://openalex.org/W2288883172","https://openalex.org/W2389068643","https://openalex.org/W2461937780","https://openalex.org/W2492629073","https://openalex.org/W2604060623","https://openalex.org/W2913529137","https://openalex.org/W2964040381","https://openalex.org/W2969076652","https://openalex.org/W3028228043","https://openalex.org/W3089393751","https://openalex.org/W3089576059","https://openalex.org/W3124420883","https://openalex.org/W3139043235","https://openalex.org/W3159797474","https://openalex.org/W3173989948","https://openalex.org/W3174761862","https://openalex.org/W3203183735","https://openalex.org/W4200200540","https://openalex.org/W4237591687","https://openalex.org/W4285053689","https://openalex.org/W4300047986","https://openalex.org/W4301014524","https://openalex.org/W4320481153","https://openalex.org/W6685664056","https://openalex.org/W6749858761","https://openalex.org/W6769968715","https://openalex.org/W6778471983"],"related_works":["https://openalex.org/W2580650124","https://openalex.org/W4386190339","https://openalex.org/W2562263695","https://openalex.org/W2135187896","https://openalex.org/W2147201983","https://openalex.org/W2015518264","https://openalex.org/W2795035211","https://openalex.org/W2160108762","https://openalex.org/W1718066205","https://openalex.org/W2017034551"],"abstract_inverted_index":{"Robots":[0],"operating":[1],"in":[2,59,99,125],"multi-player":[3,38],"settings":[4],"must":[5],"simultaneously":[6],"model":[7,53],"the":[8,11,42,92,105],"environment":[9,62],"and":[10,30,82,134],"behavior":[12],"of":[13,56,148],"human":[14],"or":[15],"robotic":[16],"agents":[17,58,98],"who":[18],"share":[19],"that":[20,77],"environment.":[21],"This":[22],"modeling":[23],"is":[24],"often":[25,46],"approached":[26],"using":[27,86],"Simultaneous":[28],"Localization":[29],"Mapping":[31],"(SLAM);":[32],"however,":[33],"SLAM":[34,75,107],"algorithms":[35],"usually":[36],"neglect":[37],"interactions.":[39],"In":[40],"contrast,":[41],"motion":[43],"planning":[44],"literature":[45],"uses":[47],"dynamic":[48],"game":[49,87],"theory":[50],"to":[51,90],"explicitly":[52],"noncooperative":[54],"interactions":[55,95],"multiple":[57,97],"a":[60,70,110,115,126,139,145],"known":[61],"with":[63],"perfect":[64],"localization.":[65],"Here,":[66],"we":[67,113],"present":[68],"GTP-SLAM,":[69],"novel,":[71],"iterative":[72],"best":[73],"response-based":[74],"algorithm":[76,143],"accurately":[78,137],"performs":[79,132],"state":[80],"localization":[81,133],"map":[83],"reconstruction,":[84],"while":[85],"theoretic":[88],"priors":[89],"capture":[91],"inherent":[93],"non-cooperative":[94],"among":[96],"an":[100],"uncharted":[101],"scene.":[102],"By":[103],"formulating":[104],"underlying":[106],"problem":[108],"as":[109],"potential":[111],"game,":[112],"inherit":[114],"strong":[116],"convergence":[117],"guarantee.":[118],"Empirical":[119],"results":[120],"indicate":[121],"that,":[122],"when":[123],"deployed":[124],"realistic":[127],"traffic":[128],"simulation,":[129],"our":[130],"approach":[131],"mapping":[135],"more":[136],"than":[138],"standard":[140],"bundle":[141],"adjustment":[142],"across":[144],"wide":[146],"range":[147],"noise":[149],"levels.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}