{"id":"https://openalex.org/W4414322470","doi":"https://doi.org/10.1109/ecmr65884.2025.11163249","title":"Robust Localization, Mapping, and Navigation for Quadruped Robots","display_name":"Robust Localization, Mapping, and Navigation for Quadruped Robots","publication_year":2025,"publication_date":"2025-09-02","ids":{"openalex":"https://openalex.org/W4414322470","doi":"https://doi.org/10.1109/ecmr65884.2025.11163249"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr65884.2025.11163249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr65884.2025.11163249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2434/1185520","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079862704","display_name":"Dyuman Aditya","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dyuman Aditya","raw_affiliation_strings":["École Centrale de Nantes,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"École Centrale de Nantes,France","institution_ids":["https://openalex.org/I100445878"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074301962","display_name":"Junning Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Junning Huang","raw_affiliation_strings":["Technical University of Darmstadt,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Darmstadt,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093115624","display_name":"Nico Bohlinger","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nico Bohlinger","raw_affiliation_strings":["Technical University of Darmstadt,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Darmstadt,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042245303","display_name":"Piotr Kicki","orcid":"https://orcid.org/0000-0003-0097-6612"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Piotr Kicki","raw_affiliation_strings":["Poznan University of Technology,Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Poznan University of Technology,Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023007633","display_name":"Krzysztof Walas","orcid":"https://orcid.org/0000-0002-2800-2716"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Walas","raw_affiliation_strings":["Poznan University of Technology,Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Poznan University of Technology,Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063321196","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0001-9328-3078"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Technical University of Darmstadt,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Darmstadt,Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020142519","display_name":"Matteo Luperto","orcid":"https://orcid.org/0000-0002-8976-2073"},"institutions":[{"id":"https://openalex.org/I189158943","display_name":"University of Milan","ror":"https://ror.org/00wjc7c48","country_code":"IT","type":"education","lineage":["https://openalex.org/I189158943"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Luperto","raw_affiliation_strings":["Università Degli Studi di Milano,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Università Degli Studi di Milano,Italy","institution_ids":["https://openalex.org/I189158943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001304610","display_name":"Davide Tateo","orcid":"https://orcid.org/0000-0002-7193-923X"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Davide Tateo","raw_affiliation_strings":["Technical University of Darmstadt,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Darmstadt,Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.4653,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95334579,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9948999881744385,"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/robot","display_name":"Robot","score":0.5990999937057495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37290000915527344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3174000084400177},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.31540000438690186},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3100999891757965},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.3021000027656555}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5990999937057495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5200999975204468},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37290000915527344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34060001373291016},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3269999921321869},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3174000084400177},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3100999891757965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30799999833106995},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3021000027656555},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2687999904155731},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr65884.2025.11163249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr65884.2025.11163249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:air.unimi.it:2434/1185520","is_oa":true,"landing_page_url":"https://hdl.handle.net/2434/1185520","pdf_url":null,"source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"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":null,"raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:air.unimi.it:2434/1185520","is_oa":true,"landing_page_url":"https://hdl.handle.net/2434/1185520","pdf_url":null,"source":{"id":"https://openalex.org/S4306400516","display_name":"Archivio Istituzionale della Ricerca (Universita Degli Studi Di Milano)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189158943","host_organization_name":"University of Milan","host_organization_lineage":["https://openalex.org/I189158943"],"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":null,"raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1666709923","https://openalex.org/W2021851106","https://openalex.org/W2107667896","https://openalex.org/W2898231767","https://openalex.org/W3006449166","https://openalex.org/W3037057924","https://openalex.org/W3131341185","https://openalex.org/W3140042148","https://openalex.org/W3163573497","https://openalex.org/W3178901079","https://openalex.org/W3185776277","https://openalex.org/W4205430897","https://openalex.org/W4205649782","https://openalex.org/W4220840735","https://openalex.org/W4225244428","https://openalex.org/W4283787029","https://openalex.org/W4285102143","https://openalex.org/W4310746161","https://openalex.org/W4327662982","https://openalex.org/W4383108438","https://openalex.org/W4385430550","https://openalex.org/W4391822084","https://openalex.org/W4393641014","https://openalex.org/W4395116617","https://openalex.org/W4401413712","https://openalex.org/W4401417431","https://openalex.org/W4405787203","https://openalex.org/W4405787394","https://openalex.org/W4407025919","https://openalex.org/W4407403270","https://openalex.org/W4408318156","https://openalex.org/W4409348659"],"related_works":[],"abstract_inverted_index":{"Quadruped":[0],"robots":[1],"are":[2],"currently":[3],"a":[4,54,58],"widespread":[5],"platform":[6],"for":[7,65],"robotics":[8],"research,":[9],"thanks":[10],"to":[11,26],"powerful":[12],"Reinforcement":[13],"Learning":[14],"controllers":[15],"and":[16,21,62,80,87,93,115,129,137],"the":[17,28,31,34,84,110,125,144],"availability":[18],"of":[19,30,71,109,124],"cheap":[20],"robust":[22,39,59],"commercial":[23],"platforms.":[24],"However,":[25],"broaden":[27],"adoption":[29],"technology":[32],"in":[33,91],"real":[35],"world,":[36],"we":[37,74,119],"require":[38],"navigation":[40,63],"stacks":[41],"relying":[42],"only":[43],"on":[44,132,143],"low-cost":[45,66],"sensors":[46],"such":[47],"as":[48],"depth":[49],"cameras.":[50],"This":[51],"paper":[52],"presents":[53],"first":[55],"step":[56],"towards":[57],"localization,":[60],"mapping,":[61],"system":[64,102],"quadruped":[67,97],"robots.":[68],"In":[69],"pursuit":[70],"this":[72],"objective,":[73],"combine":[75],"contact-aided":[76],"kinematic,":[77],"visual-inertial":[78],"odometry,":[79],"depth-stabilized":[81],"vision,":[82],"enhancing":[83],"system\u2019s":[85,126],"stability":[86],"accuracy.":[88,134],"Our":[89],"results":[90],"simulation":[92],"two":[94],"different":[95],"real-world":[96],"platforms":[98],"show":[99],"that":[100],"our":[101],"can":[103,140],"generate":[104],"an":[105],"accurate":[106],"2D":[107],"map":[108],"environment,":[111],"robustly":[112],"localize":[113],"itself,":[114],"navigate":[116],"autonomously.":[117],"Furthermore,":[118],"present":[120],"in-depth":[121],"ablation":[122],"studies":[123],"key":[127],"components":[128],"their":[130],"impact":[131],"localization":[133],"Videos,":[135],"code,":[136],"additional":[138],"experiments":[139],"be":[141],"found":[142],"project":[145],"website.1":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}