{"id":"https://openalex.org/W4368227447","doi":"https://doi.org/10.1109/iccae56788.2023.10111365","title":"Simultaneous Localization and Mapping (SLAM) in Swarm Robots for Map-Merging and Uniform Map Generation Using ROS","display_name":"Simultaneous Localization and Mapping (SLAM) in Swarm Robots for Map-Merging and Uniform Map Generation Using ROS","publication_year":2023,"publication_date":"2023-03-03","ids":{"openalex":"https://openalex.org/W4368227447","doi":"https://doi.org/10.1109/iccae56788.2023.10111365"},"language":"en","primary_location":{"id":"doi:10.1109/iccae56788.2023.10111365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccae56788.2023.10111365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 15th International Conference on Computer and Automation Engineering (ICCAE)","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/A5051756120","display_name":"Abhishek Salunke","orcid":"https://orcid.org/0009-0003-0760-806X"},"institutions":[{"id":"https://openalex.org/I878213199","display_name":"Savitribai Phule Pune University","ror":"https://ror.org/044g6d731","country_code":"IN","type":"education","lineage":["https://openalex.org/I878213199"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Abhishek Salunke","raw_affiliation_strings":["College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","institution_ids":["https://openalex.org/I878213199"]},{"raw_affiliation_string":"Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India","institution_ids":["https://openalex.org/I878213199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016339043","display_name":"Chinmay Patil","orcid":null},"institutions":[{"id":"https://openalex.org/I878213199","display_name":"Savitribai Phule Pune University","ror":"https://ror.org/044g6d731","country_code":"IN","type":"education","lineage":["https://openalex.org/I878213199"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chinmay Patil","raw_affiliation_strings":["College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","institution_ids":["https://openalex.org/I878213199"]},{"raw_affiliation_string":"Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India","institution_ids":["https://openalex.org/I878213199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073752842","display_name":"Ram Mude","orcid":null},"institutions":[{"id":"https://openalex.org/I878213199","display_name":"Savitribai Phule Pune University","ror":"https://ror.org/044g6d731","country_code":"IN","type":"education","lineage":["https://openalex.org/I878213199"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ram Mude","raw_affiliation_strings":["College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","institution_ids":["https://openalex.org/I878213199"]},{"raw_affiliation_string":"Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India","institution_ids":["https://openalex.org/I878213199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083176923","display_name":"Radhika D. Joshi","orcid":"https://orcid.org/0000-0001-9934-0782"},"institutions":[{"id":"https://openalex.org/I878213199","display_name":"Savitribai Phule Pune University","ror":"https://ror.org/044g6d731","country_code":"IN","type":"education","lineage":["https://openalex.org/I878213199"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Radhika D. Joshi","raw_affiliation_strings":["College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Pune,Electronics and Telecomm. Dept.,Pune,India","institution_ids":["https://openalex.org/I878213199"]},{"raw_affiliation_string":"Electronics and Telecomm. Dept., College of Engineering, Pune, Pune, India","institution_ids":["https://openalex.org/I878213199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051756120"],"corresponding_institution_ids":["https://openalex.org/I878213199"],"apc_list":null,"apc_paid":null,"fwci":0.6648,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.63035437,"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":"411","last_page":"415"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8635332584381104},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7406153678894043},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7204598784446716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6877254247665405},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6814800500869751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6239771842956543},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6002563238143921},{"id":"https://openalex.org/keywords/ant-robotics","display_name":"Ant robotics","score":0.5688852667808533},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5340266227722168},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.45446720719337463},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.450241357088089},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4385630488395691},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.43842121958732605},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.4283728003501892},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42593491077423096},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.394645631313324},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.25507068634033203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2023341953754425},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10231152176856995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07683032751083374}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8635332584381104},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7406153678894043},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7204598784446716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6877254247665405},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6814800500869751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6239771842956543},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6002563238143921},{"id":"https://openalex.org/C44832474","wikidata":"https://www.wikidata.org/wiki/Q4770870","display_name":"Ant robotics","level":5,"score":0.5688852667808533},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5340266227722168},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.45446720719337463},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.450241357088089},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4385630488395691},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.43842121958732605},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.4283728003501892},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42593491077423096},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.394645631313324},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25507068634033203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2023341953754425},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10231152176856995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07683032751083374},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems 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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccae56788.2023.10111365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccae56788.2023.10111365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 15th International Conference on Computer and Automation Engineering (ICCAE)","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":12,"referenced_works":["https://openalex.org/W33860726","https://openalex.org/W2105919163","https://openalex.org/W2107914600","https://openalex.org/W2409635379","https://openalex.org/W2423300849","https://openalex.org/W2765314434","https://openalex.org/W2896918001","https://openalex.org/W2920811214","https://openalex.org/W2942942345","https://openalex.org/W3008417913","https://openalex.org/W3021134042","https://openalex.org/W3076171048"],"related_works":["https://openalex.org/W2752625427","https://openalex.org/W2184917583","https://openalex.org/W3004744844","https://openalex.org/W3196415855","https://openalex.org/W79676622","https://openalex.org/W2089011450","https://openalex.org/W2367661998","https://openalex.org/W3041988213","https://openalex.org/W2044051110","https://openalex.org/W1621629755"],"abstract_inverted_index":{"Swarm":[0,77],"robotics":[1],"is":[2,21,41,75,114,131,175],"a":[3,15,57,72,97,135],"sort":[4],"of":[5,26,36,48,120,162],"multi-robotics":[6],"where":[7,173],"many":[8],"robots":[9,31,50,86,108],"work":[10],"together":[11],"to":[12,33,63,96,133,147,179],"coordinate":[13],"in":[14,87,104,128],"distributed":[16],"and":[17,29,39,54,94,153,159,167],"decentralized":[18],"way.":[19],"It":[20],"based":[22],"on":[23],"the":[24,34,37,88,105,117,129],"application":[25],"local":[27],"rules":[28],"basic":[30,49],"relative":[32],"difficulty":[35],"task,":[38],"it":[40,101,174],"motivated":[42],"by":[43,125,143],"social":[44],"insects.":[45],"A":[46],"collection":[47],"with":[51,91,111],"greater":[52],"resilience":[53],"flexibility":[55],"than":[56],"single":[58,98],"robot":[59,127,146],"may":[60],"be":[61,141],"able":[62],"do":[64],"challenging":[65],"tasks":[66,155],"more":[67],"effectively.":[68],"In":[69],"this":[70],"paper,":[71],"multi-robot":[73],"system":[74],"proposed\u2013":[76],"Robots":[78],"for":[79,116,177],"Simultaneous":[80],"Localization":[81],"And":[82],"Mapping":[83],"(SLAM).":[84],"Individual":[85],"swarm":[89,130],"interact":[90],"each":[92,126],"other":[93,145],"contribute":[95],"map":[99,123,139],"as":[100],"localizes":[102],"itself":[103],"environment.":[106],"The":[107,122],"are":[109],"equipped":[110],"RPLIDAR":[112],"which":[113],"utilised":[115],"hardware":[118],"implementation":[119],"SLAM.":[121],"constructed":[124],"merged":[132],"make":[134],"uniform":[136],"map.":[137],"This":[138],"can":[140],"used":[142],"any":[144],"effectively":[148],"traverse":[149],"an":[150],"unknown":[151,168],"environment":[152,169],"perform":[154],"that":[156],"include":[157],"search":[158],"rescue,":[160],"cleanup":[161],"toxic":[163],"spills,":[164],"collective":[165],"transportation,":[166],"exploration":[170],"like":[171],"areas":[172],"dangerous":[176],"humans":[178],"work.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}