{"id":"https://openalex.org/W2151603945","doi":"https://doi.org/10.1109/cira.2003.1222240","title":"Robot navigation in corridor environments using a sketch floor map","display_name":"Robot navigation in corridor environments using a sketch floor map","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W2151603945","doi":"https://doi.org/10.1109/cira.2003.1222240","mag":"2151603945"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2003.1222240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","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/A5025981319","display_name":"Vachirasuk Setalaphruk","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"V. Setalaphruk","raw_affiliation_strings":["School of Information Science, Nara Institute of Science and Technology, Takayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060503153","display_name":"Akinori Ueno","orcid":"https://orcid.org/0000-0002-5710-1721"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Ueno","raw_affiliation_strings":["School of Information Science, Nara Institute of Science and Technology, Takayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055993838","display_name":"Izuru Kume","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"I. Kume","raw_affiliation_strings":["School of Information Science, Nara Institute of Science and Technology, Takayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103244944","display_name":"Yasuyuki Kono","orcid":"https://orcid.org/0009-0007-0892-9518"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Kono","raw_affiliation_strings":["School of Information Science, Nara Institute of Science and Technology, Takayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067502749","display_name":"Masatsugu Kidode","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Kidode","raw_affiliation_strings":["School of Information Science, Nara Institute of Science and Technology, Takayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Nara Institute of Science and Technology, Takayama, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"552","last_page":"557"},"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":0.9994999766349792,"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":0.9940000176429749,"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/sketch","display_name":"Sketch","score":0.794025182723999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.729533851146698},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.7221582531929016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7007426023483276},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.6583005785942078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6306796073913574},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.6267057657241821},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5972365140914917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5568554401397705},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5428788661956787},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5000185966491699},{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.49872732162475586},{"id":"https://openalex.org/keywords/floor-plan","display_name":"Floor plan","score":0.43081653118133545},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4135502576828003},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36206716299057007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15443387627601624},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.13856807351112366},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.13498744368553162},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1301122009754181},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08125856518745422},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.07484295964241028}],"concepts":[{"id":"https://openalex.org/C2779231336","wikidata":"https://www.wikidata.org/wiki/Q7534724","display_name":"Sketch","level":2,"score":0.794025182723999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.729533851146698},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7221582531929016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7007426023483276},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.6583005785942078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6306796073913574},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.6267057657241821},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5972365140914917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5568554401397705},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5428788661956787},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5000185966491699},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.49872732162475586},{"id":"https://openalex.org/C61056293","wikidata":"https://www.wikidata.org/wiki/Q18965","display_name":"Floor plan","level":2,"score":0.43081653118133545},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4135502576828003},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36206716299057007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15443387627601624},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.13856807351112366},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.13498744368553162},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1301122009754181},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08125856518745422},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.07484295964241028},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C61445026","wikidata":"https://www.wikidata.org/wiki/Q217608","display_name":"Fixed point","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cira.2003.1222240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W70036169","https://openalex.org/W203809554","https://openalex.org/W1550098664","https://openalex.org/W1567193306","https://openalex.org/W1579593387","https://openalex.org/W1937587174","https://openalex.org/W1991328253","https://openalex.org/W2030021468","https://openalex.org/W2140389832","https://openalex.org/W2165848869","https://openalex.org/W2318452820","https://openalex.org/W2982209274","https://openalex.org/W4285719527","https://openalex.org/W4298410530","https://openalex.org/W6602864744","https://openalex.org/W6632693104","https://openalex.org/W6634211352","https://openalex.org/W6680668789"],"related_works":["https://openalex.org/W2369446480","https://openalex.org/W776059654","https://openalex.org/W2518281611","https://openalex.org/W1592970983","https://openalex.org/W2164971746","https://openalex.org/W2030646401","https://openalex.org/W2121072606","https://openalex.org/W3004140625","https://openalex.org/W2769842592","https://openalex.org/W155233204"],"abstract_inverted_index":{"This":[0,20],"paper":[1],"presents":[2],"a":[3,12,18,50,57,62,95],"new":[4],"robot":[5,58],"navigation":[6,78,110],"system":[7,48],"that":[8],"can":[9],"operate":[10],"on":[11,70],"sketch":[13,21],"floor":[14,26,63,97],"map":[15,22,64,85],"provided":[16],"by":[17,59],"user.":[19],"is":[23,76,79],"similar":[24],"to":[25,52,56,113,122],"plans":[27],"as":[28,45,125],"shown":[29],"at":[30],"the":[31,71,88,91,102,129],"entrance":[32],"of":[33,90,101],"buildings,":[34],"which":[35,86],"does":[36],"not":[37],"contain":[38],"accurate":[39],"metric":[40,74],"information":[41,75],"and":[42,65,107,118],"details":[43],"such":[44,124],"obstacles.":[46],"The":[47],"enables":[49],"user":[51],"give":[53],"navigational":[54],"instructions":[55],"interactively":[60],"providing":[61],"pointing":[66],"out":[67],"goal":[68],"positions":[69],"map.":[72,98],"Since":[73],"unavailable,":[77],"done":[80],"using":[81],"an":[82],"augmented":[83],"topological":[84],"described":[87],"structure":[89],"corridors":[92],"extracted":[93],"from":[94],"given":[96],"Multiple":[99],"hypotheses":[100],"robot's":[103],"location":[104],"are":[105],"maintained":[106],"updated":[108],"during":[109],"in":[111],"order":[112],"cope":[114],"with":[115],"sensor":[116],"aliasing":[117],"landmark-matching":[119],"failures":[120],"due":[121],"factors":[123],"unknown":[126],"obstacles":[127],"inside":[128],"corridors.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
