{"id":"https://openalex.org/W1491601961","doi":"https://doi.org/10.1109/icra.2015.7139479","title":"Ouroboros: Using potential field in unexplored regions to close loops","display_name":"Ouroboros: Using potential field in unexplored regions to close loops","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1491601961","doi":"https://doi.org/10.1109/icra.2015.7139479","mag":"1491601961"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139479","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/A5033790824","display_name":"Vitor A. M. Jorge","orcid":"https://orcid.org/0000-0003-1620-852X"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Vitor A. M. Jorge","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088943723","display_name":"Renan Maffei","orcid":"https://orcid.org/0000-0003-0637-9747"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Renan Maffei","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109075919","display_name":"Guilherme S. Franco","orcid":null},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Guilherme S. Franco","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050580534","display_name":"Jessica Daltrozo","orcid":null},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jessica Daltrozo","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038834861","display_name":"Mariane Giambastiani","orcid":null},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mariane Giambastiani","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020629420","display_name":"Mariana Kolberg","orcid":"https://orcid.org/0000-0002-8117-4402"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mariana Kolberg","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002969213","display_name":"Edson Prestes","orcid":"https://orcid.org/0000-0003-3691-4253"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Edson Prestes","raw_affiliation_strings":["Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Informatics, Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil","institution_ids":["https://openalex.org/I130442723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5033790824"],"corresponding_institution_ids":["https://openalex.org/I130442723"],"apc_list":null,"apc_paid":null,"fwci":0.9205,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.81049211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2125","last_page":"2131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9984999895095825,"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/maxima-and-minima","display_name":"Maxima and minima","score":0.8165082931518555},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6381865739822388},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.630693793296814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.630661129951477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6301043033599854},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5666418075561523},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.48243293166160583},{"id":"https://openalex.org/keywords/sort","display_name":"sort","score":0.4547935128211975},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4322269856929779},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.43080809712409973},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4295520782470703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4066024124622345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19991669058799744}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8165082931518555},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6381865739822388},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.630693793296814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.630661129951477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6301043033599854},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5666418075561523},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.48243293166160583},{"id":"https://openalex.org/C88548561","wikidata":"https://www.wikidata.org/wiki/Q347599","display_name":"sort","level":2,"score":0.4547935128211975},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4322269856929779},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.43080809712409973},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4295520782470703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4066024124622345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19991669058799744},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139479","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":[{"score":0.44999998807907104,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1424654272","https://openalex.org/W1483002447","https://openalex.org/W1510206658","https://openalex.org/W1521785144","https://openalex.org/W1595410283","https://openalex.org/W1684737195","https://openalex.org/W1998451131","https://openalex.org/W2020569159","https://openalex.org/W2024162894","https://openalex.org/W2032961932","https://openalex.org/W2055738078","https://openalex.org/W2058626008","https://openalex.org/W2085020765","https://openalex.org/W2088500398","https://openalex.org/W2109142140","https://openalex.org/W2151887427","https://openalex.org/W2155147723","https://openalex.org/W2168087445","https://openalex.org/W2172011507","https://openalex.org/W2611243847","https://openalex.org/W4252684946"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W176898926","https://openalex.org/W2348235448","https://openalex.org/W4360958759","https://openalex.org/W2389906634","https://openalex.org/W288156810","https://openalex.org/W1562406979","https://openalex.org/W2962797788","https://openalex.org/W2116218375"],"abstract_inverted_index":{"An":[0],"autonomous":[1],"robot":[2,22,59,155],"requires":[3],"a":[4,88,130,176,181,201],"map":[5,17],"of":[6,41,87,105,146,149,169,184,197,204],"the":[7,21,29,58,62,79,84,138,147,154,164,170,185,195,198],"environment":[8,74,186],"for":[9,73],"many":[10,14],"tasks.":[11],"Yet,":[12],"in":[13,26,28,122],"cases,":[15],"this":[16,111,126],"is":[18,55,76,95,173],"unavailable":[19],"and":[20,50,100,103,117,152],"must":[23],"build":[24],"one":[25],"real-time,":[27],"so-called":[30],"integrated":[31,35],"exploration":[32,36,75],"task.":[33],"Several":[34],"approaches":[37],"adopt":[38],"some":[39],"sort":[40],"loop-closing":[42],"strategy":[43],"combined":[44],"with":[45,200],"an":[46],"online":[47],"simultaneous":[48],"localization":[49],"mapping":[51],"(SLAM)":[52],"technique.":[53],"This":[54,93],"important":[56],"because":[57],"can":[60],"reduce":[61],"uncertainty":[63],"about":[64],"its":[65,205],"pose":[66],"by":[67,159,180],"revisiting":[68],"known":[69],"areas.":[70],"One":[71],"solution":[72,86],"to":[77,156],"use":[78],"vector":[80],"field":[81,172],"computed":[82],"from":[83],"numeric":[85],"Boundary":[89],"Value":[90],"Problem":[91],"(BVP).":[92],"approach":[94],"called":[96],"BVP":[97,139],"Path":[98,140],"Planner":[99],"generates":[101],"smooth":[102],"free":[104],"local":[106,177],"minima":[107],"potential":[108,148,171],"fields.":[109],"However,":[110],"planner":[112],"cannot":[113],"actively":[114],"close":[115,157],"loops":[116,158],"does":[118],"not":[119],"scale":[120],"well":[121],"large":[123],"scenarios.":[124],"In":[125],"paper":[127],"we":[128],"present":[129],"technique":[131,199],"which":[132],"performs":[133],"active":[134],"loop":[135],"closure":[136],"using":[137,175],"Planner.":[141],"Our":[142],"proposal":[143],"takes":[144],"advantage":[145],"unexplored":[150],"regions,":[151],"induces":[153],"placing":[160],"dynamic":[161],"barriers":[162],"at":[163],"visited":[165],"space.":[166],"The":[167],"update":[168],"boosted":[174],"window":[178],"charged":[179],"Voronoi":[182],"diagram":[183],"containing":[187],"global":[188],"information.":[189],"We":[190],"show":[191],"through":[192],"experimental":[193],"results":[194],"effectiveness":[196],"thorough":[202],"discussion":[203],"characteristics.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}