{"id":"https://openalex.org/W1512885570","doi":"https://doi.org/10.1109/icra.2015.7139310","title":"Exploration and topological map building in unknown environments","display_name":"Exploration and topological map building in unknown environments","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1512885570","doi":"https://doi.org/10.1109/icra.2015.7139310","mag":"1512885570"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5089486134","display_name":"Bayram Cevdet Akdeniz","orcid":"https://orcid.org/0000-0002-9493-3105"},"institutions":[{"id":"https://openalex.org/I118036225","display_name":"Istanbul Bilgi University","ror":"https://ror.org/04pm4x478","country_code":"TR","type":"education","lineage":["https://openalex.org/I118036225"]},{"id":"https://openalex.org/I19926482","display_name":"Dr. M.G.R. Educational and Research Institute","ror":"https://ror.org/053hsst90","country_code":"IN","type":"education","lineage":["https://openalex.org/I19926482"]},{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT","IN","TR"],"is_corresponding":false,"raw_author_name":"Bayram C. Akdeniz","raw_affiliation_strings":["Dept. of CS and IT, Dr. B. A. M. University, India","Inst.f. Festkoerperphysik, TU-Graz, Austria","Istanbul Bilgi University, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of CS and IT, Dr. B. A. M. University, India","institution_ids":["https://openalex.org/I19926482"]},{"raw_affiliation_string":"Inst.f. Festkoerperphysik, TU-Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Istanbul Bilgi University, Istanbul, Turkey","institution_ids":["https://openalex.org/I118036225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081079933","display_name":"H. I\u015f\u0131l Bozma","orcid":"https://orcid.org/0000-0002-0903-2979"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"H. Isil Bozma","raw_affiliation_strings":["Bo\u011fazi\u00e7i University, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bo\u011fazi\u00e7i University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4026,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83064625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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"}},{"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":0.9983000159263611,"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/robot","display_name":"Robot","score":0.6595597863197327},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6494415998458862},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.6021013259887695},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6000787019729614},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5914255380630493},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5843429565429688},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.5785865187644958},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5680990219116211},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43403324484825134},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.43330854177474976},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.40908753871917725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33226534724235535},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2804136872291565},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1846296191215515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15968072414398193},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11606931686401367},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0933695137500763}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6595597863197327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6494415998458862},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.6021013259887695},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6000787019729614},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5914255380630493},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5843429565429688},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.5785865187644958},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5680990219116211},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43403324484825134},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.43330854177474976},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.40908753871917725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33226534724235535},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2804136872291565},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1846296191215515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15968072414398193},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11606931686401367},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0933695137500763},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6299999952316284,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1491456385","https://openalex.org/W1492783741","https://openalex.org/W1501351249","https://openalex.org/W1508295069","https://openalex.org/W1521899940","https://openalex.org/W1532631793","https://openalex.org/W1684737195","https://openalex.org/W1873892361","https://openalex.org/W1978289112","https://openalex.org/W1999588501","https://openalex.org/W2004615287","https://openalex.org/W2008110774","https://openalex.org/W2011033965","https://openalex.org/W2050781898","https://openalex.org/W2063135661","https://openalex.org/W2083404393","https://openalex.org/W2087027772","https://openalex.org/W2089437550","https://openalex.org/W2098656877","https://openalex.org/W2102701630","https://openalex.org/W2107667896","https://openalex.org/W2120017582","https://openalex.org/W2126572568","https://openalex.org/W2129986240","https://openalex.org/W2131745797","https://openalex.org/W2141577832","https://openalex.org/W2147249804","https://openalex.org/W2149619235","https://openalex.org/W2151922743","https://openalex.org/W2160410737","https://openalex.org/W2161579040","https://openalex.org/W2171960444","https://openalex.org/W2172103629","https://openalex.org/W2295727332","https://openalex.org/W3104753760","https://openalex.org/W4240538936","https://openalex.org/W6630238726","https://openalex.org/W6631961670","https://openalex.org/W6637417686","https://openalex.org/W6681551849","https://openalex.org/W6822410138"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2914059119","https://openalex.org/W3023567978","https://openalex.org/W2069184433","https://openalex.org/W3044778482","https://openalex.org/W4285089922","https://openalex.org/W2140766902"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,87],"on":[3],"simultaneous":[4],"exploration":[5],"and":[6,37,49,150],"topological":[7,116],"map":[8,57,117],"building":[9],"in":[10,73,123],"completely":[11],"unknown":[12],"environments.":[13],"We":[14],"propose":[15],"an":[16,138],"approach":[17],"that":[18,100,144],"consists":[19],"of":[20,24,46,83,97],"a":[21,52,74,79,88,95],"continuous":[22],"loop":[23],"local":[25],"decision-making":[26,39],"(where":[27,40],"potential":[28,103],"search":[29,104],"directions":[30,48,105],"are":[31],"added":[32],"to":[33,55,108,125,128],"the":[34,41,56,60,67,71,84,109,120],"current":[35],"node)":[36],"global":[38],"robot":[42,68],"moves":[43],"along":[44],"one":[45],"these":[47],"adds":[50],"possibly":[51],"new":[53],"node":[54,89],")":[58],"using":[59,153],"previously":[61],"proposed":[62],"bubble":[63],"space":[64],"representation.":[65],"As":[66],"switches":[69],"between":[70],"two":[72],"continual":[75],"manner,":[76],"it":[77],"creates":[78],"coarse":[80],"graph":[81],"representation":[82],"environment.":[85],"There":[86],"for":[90],"every":[91],"explored":[92,111,149],"location":[93],"with":[94,130,137],"set":[96,142],"associated":[98],"edges":[99],"either":[101],"indicate":[102],"or":[106],"connect":[107],"other":[110],"locations.":[112],"The":[113],"so-far":[114],"constructed":[115],"contains":[118],"all":[119],"required":[121],"information":[122],"regards":[124],"deciding":[126],"where":[127],"move":[129],"comparatively":[131],"low":[132],"memory":[133],"requirements.":[134],"Experimental":[135],"results":[136],"extensive":[139],"real":[140],"data":[141],"demonstrate":[143],"large":[145],"terrains":[146],"can":[147],"be":[148],"mapped":[151],"efficiently":[152],"this":[154],"approach.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
