{"id":"https://openalex.org/W2117749802","doi":"https://doi.org/10.1109/icra.2011.5979890","title":"A first-order solution to simultaneous localization and mapping with graphical models","display_name":"A first-order solution to simultaneous localization and mapping with graphical models","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2117749802","doi":"https://doi.org/10.1109/icra.2011.5979890","mag":"2117749802"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["CSPP, Laboratorio di Meccatronica, Politecnico di Turino, Torino, Italy","CSPP, Laboratorio di Meccatronica, Politecnico di Torino - Italy"],"affiliations":[{"raw_affiliation_string":"CSPP, Laboratorio di Meccatronica, Politecnico di Turino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"CSPP, Laboratorio di Meccatronica, Politecnico di Torino - Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062651208","display_name":"Rosario Arag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0001-9458-6257"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rosario Aragues","raw_affiliation_strings":["Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038670897","display_name":"Jos\u00e9 A. Castellanos","orcid":"https://orcid.org/0000-0001-5977-8720"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose A. Castellanos","raw_affiliation_strings":["Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Departamento de Inform\u00e1tica e Ingenier\u00eda de Sistemas, Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082857249","display_name":"Basilio Bona","orcid":"https://orcid.org/0000-0002-4924-9144"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Basilio Bona","raw_affiliation_strings":["Dipartimento di Automatica e Informatica, Politecnico di Turino, Torino, Italy","Dipartimento di Automatica e Informatica - Politecnico di Torino, ITALY#TAB#"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automatica e Informatica, Politecnico di Turino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Dipartimento di Automatica e Informatica - Politecnico di Torino, ITALY#TAB#","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042157108"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":null,"apc_paid":null,"fwci":72.5761,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.99668298,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1764","last_page":"1771"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/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":0.8108370900154114},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.6799356341362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6682741641998291},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6575416326522827},{"id":"https://openalex.org/keywords/graphical-model","display_name":"Graphical model","score":0.562265932559967},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5193547010421753},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5182299613952637},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5015556812286377},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4963527321815491},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46553364396095276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4334600865840912},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3456430435180664},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26772570610046387},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23154735565185547}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8108370900154114},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.6799356341362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6682741641998291},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6575416326522827},{"id":"https://openalex.org/C155846161","wikidata":"https://www.wikidata.org/wiki/Q1143367","display_name":"Graphical model","level":2,"score":0.562265932559967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5193547010421753},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5182299613952637},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5015556812286377},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4963527321815491},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46553364396095276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4334600865840912},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3456430435180664},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26772570610046387},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23154735565185547},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:porto.polito.it:2422941","is_oa":false,"landing_page_url":"http://porto.polito.it/2422941/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402038","display_name":"PORTO Publications Open Repository TOrino (Politecnico di Torino)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177477856","host_organization_name":"Politecnico di Torino","host_organization_lineage":["https://openalex.org/I177477856"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W142685375","https://openalex.org/W186433452","https://openalex.org/W391578156","https://openalex.org/W1490092700","https://openalex.org/W1507322379","https://openalex.org/W1531532259","https://openalex.org/W1549613529","https://openalex.org/W1656165940","https://openalex.org/W1692927985","https://openalex.org/W1880189740","https://openalex.org/W1977464512","https://openalex.org/W1990012555","https://openalex.org/W2024908906","https://openalex.org/W2076552432","https://openalex.org/W2104181141","https://openalex.org/W2104497032","https://openalex.org/W2107905629","https://openalex.org/W2113906280","https://openalex.org/W2116134448","https://openalex.org/W2119538218","https://openalex.org/W2120353515","https://openalex.org/W2121797328","https://openalex.org/W2126828700","https://openalex.org/W2127578024","https://openalex.org/W2128873520","https://openalex.org/W2145265734","https://openalex.org/W2146881125","https://openalex.org/W2149020252","https://openalex.org/W2155537009","https://openalex.org/W2156561799","https://openalex.org/W2336416123","https://openalex.org/W2610857016","https://openalex.org/W2727085722","https://openalex.org/W3039274615","https://openalex.org/W3143919370","https://openalex.org/W4285719527","https://openalex.org/W6605876125","https://openalex.org/W6637711694","https://openalex.org/W6681811756","https://openalex.org/W6683263307","https://openalex.org/W6740213987"],"related_works":["https://openalex.org/W1657880117","https://openalex.org/W2595172197","https://openalex.org/W2127970246","https://openalex.org/W2084856301","https://openalex.org/W1001352512","https://openalex.org/W4382618745","https://openalex.org/W2885125400","https://openalex.org/W1989889224","https://openalex.org/W1987128138","https://openalex.org/W2748922771"],"abstract_inverted_index":{"In":[0],"this":[1,135],"work":[2,136],"we":[3,39],"investigate":[4],"the":[5,14,18,22,36,46,57,65,68,75,82,93,123,126,142,172],"problem":[6],"of":[7,29,56,67,74,81,105,116,125,175],"Simultaneous":[8],"Localization":[9],"And":[10],"Mapping":[11],"(SLAM)":[12],"for":[13,88,158,170],"case":[15],"in":[16,31,103],"which":[17,48,171],"information":[19],"acquired":[20],"by":[21,114],"robot":[23,100],"is":[24,49,90,95,111,129,137,149],"modeled":[25],"as":[26],"a":[27,32,41,53,153,181],"network":[28],"constraints":[30],"graphical":[33],"model.":[34],"Analyzing":[35],"resulting":[37],"formulation":[38],"propose":[40],"closed-form":[42],"approach":[43,110],"to":[44,51,97,140],"tackle":[45],"problem,":[47],"proved":[50],"retrieve":[52],"first-order":[54],"approximation":[55],"actual":[58],"nonlinear":[59],"solution,":[60],"under":[61],"mild":[62],"assumptions":[63],"on":[64,146],"structure":[66],"involved":[69],"covariance":[70],"matrices.":[71],"The":[72,109],"outcome":[73],"analysis":[76],"reveals":[77],"several":[78,161],"desirable":[79],"properties":[80],"proposed":[83],"approach:":[84],"no":[85],"initial":[86],"guess":[87],"optimization":[89],"needed":[91],"and":[92,119,122,168],"technique":[94],"able":[96],"correctly":[98],"estimate":[99],"posterior":[101,178],"also":[102,130],"presence":[104],"arbitrarily":[106],"long":[107],"loops.":[108],"further":[112],"validated":[113],"means":[115],"extensive":[117],"simulations":[118],"real":[120],"tests,":[121],"consistency":[124],"estimation":[127],"process":[128],"evaluated.":[131],"We":[132],"remark":[133],"that":[134],"not":[138],"intended":[139],"extend":[141],"already":[143],"crowded":[144],"literature":[145],"SLAM":[147,167,177],"but":[148],"aimed":[150],"at":[151],"providing":[152],"consistent":[154],"analytical":[155],"insight,":[156],"useful":[157],"efficiently":[159],"attacking":[160],"open":[162],"research":[163],"issues,":[164],"like":[165],"active":[166],"exploration,":[169],"computational":[173],"cost":[174],"simulating":[176],"still":[179],"constitutes":[180],"troublesome":[182],"bottleneck.":[183]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
