{"id":"https://openalex.org/W2161123599","doi":"https://doi.org/10.1109/icra.2012.6224890","title":"On the comparison of uncertainty criteria for active SLAM","display_name":"On the comparison of uncertainty criteria for active SLAM","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2161123599","doi":"https://doi.org/10.1109/icra.2012.6224890","mag":"2161123599"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5082810062","display_name":"Henry Carrillo","orcid":"https://orcid.org/0000-0002-1088-8942"},"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":true,"raw_author_name":"Henry Carrillo","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"],"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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089444805","display_name":"Ian Reid","orcid":"https://orcid.org/0000-0001-7790-6423"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ian Reid","raw_affiliation_strings":["Department of Engineering Science, University of Oxford, Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","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"],"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"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082810062"],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":179.2444,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.99929826,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2080","last_page":"2087"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7112184166908264},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.6377094388008118},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6340141296386719},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5979534387588501},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5897177457809448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5534548759460449},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5007908344268799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44490742683410645},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3710905611515045},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3209368586540222},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2885287404060364},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1819317638874054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10883453488349915}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7112184166908264},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.6377094388008118},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6340141296386719},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5979534387588501},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5897177457809448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5534548759460449},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5007908344268799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44490742683410645},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3710905611515045},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3209368586540222},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2885287404060364},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1819317638874054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10883453488349915},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2012.6224890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.998.4718","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.998.4718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robots.ox.ac.uk/%7Elav/Papers/carillo_etal_icra2012/carillo_etal_icra2012.pdf","raw_type":"text"},{"id":"pmh:oai:digital.library.adelaide.edu.au:2440/87252","is_oa":false,"landing_page_url":"http://hdl.handle.net/2440/87252","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/icra.2012.6224890","raw_type":"Conference paper"},{"id":"pmh:oai:dnet:zaguan______::3c9ae95872d86a9847d19618a530e722","is_oa":false,"landing_page_url":"http://zaguan.unizar.es/record/6663","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"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/masterThesis"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W182005662","https://openalex.org/W1561559709","https://openalex.org/W1684737195","https://openalex.org/W2017351261","https://openalex.org/W2017995647","https://openalex.org/W2045252131","https://openalex.org/W2095010934","https://openalex.org/W2096649264","https://openalex.org/W2103085926","https://openalex.org/W2109142140","https://openalex.org/W2111983383","https://openalex.org/W2122885231","https://openalex.org/W2143964548","https://openalex.org/W2151688111","https://openalex.org/W2172011507","https://openalex.org/W2296039540","https://openalex.org/W2507508460","https://openalex.org/W4231002530","https://openalex.org/W4300031234","https://openalex.org/W6637417686","https://openalex.org/W6676769138"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W4231775656","https://openalex.org/W2046435967","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W2383646825","https://openalex.org/W2371018915","https://openalex.org/W4288626232","https://openalex.org/W2354191502","https://openalex.org/W1969015756"],"abstract_inverted_index":{"In":[0],"this":[1,26],"paper,":[2],"we":[3,87],"consider":[4],"the":[5,8,15,23,30,39,57,71,94],"computation":[6],"of":[7,17,25,63,73,96],"D-optimality":[9,58],"criterion":[10,28,41,59],"as":[11,67,107],"a":[12,18,68,74],"metric":[13,69],"for":[14,70],"uncertainty":[16,27,72],"SLAM":[19,32,103],"system.":[20],"Properties":[21],"regarding":[22],"use":[24,95],"in":[29,101],"active":[31,108],"context":[33],"are":[34,44],"highlighted,":[35],"and":[36,42,84,91,110],"comparisons":[37],"against":[38],"A-optimality":[40],"entropy":[43],"presented.":[45],"This":[46],"paper":[47],"shows":[48],"that":[49,93],"contrary":[50],"to":[51],"what":[52],"has":[53,98],"been":[54],"previously":[55],"reported,":[56],"is":[60],"indeed":[61],"capable":[62],"giving":[64],"fruitful":[65],"information":[66],"robot":[75],"performing":[76],"SLAM.":[77],"Finally,":[78],"through":[79],"various":[80,102],"experiments":[81],"with":[82],"simulated":[83],"real":[85],"robots,":[86],"support":[88],"our":[89],"claims":[90],"show":[92],"D-opt":[97],"desirable":[99],"effects":[100],"related":[104],"tasks":[105],"such":[106],"mapping":[109],"exploration.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}