{"id":"https://openalex.org/W4241431727","doi":"https://doi.org/10.1109/icra.2015.7140075","title":"Map API - scalable decentralized map building for robots","display_name":"Map API - scalable decentralized map building for robots","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W4241431727","doi":"https://doi.org/10.1109/icra.2015.7140075"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140075","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":"conference-paper","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/A5087318700","display_name":"Titus Cieslewski","orcid":"https://orcid.org/0000-0002-6952-1205"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Titus Cieslewski","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031067680","display_name":"Simon Lynen","orcid":"https://orcid.org/0000-0002-6421-541X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Simon Lynen","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045300921","display_name":"Marcin Dymczyk","orcid":"https://orcid.org/0000-0003-3667-8764"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marcin Dymczyk","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064365553","display_name":"St\u00e9phane Magnenat","orcid":"https://orcid.org/0000-0002-4367-4588"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stephane Magnenat","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich, Autonomous Systems Lab"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich, Autonomous Systems Lab","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6241","last_page":"6247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9990000128746033,"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9916999936103821,"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/computer-science","display_name":"Computer science","score":0.8084062933921814},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6647498607635498},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6524386405944824},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6513433456420898},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.505127489566803},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.46257996559143066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4290018081665039},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.42347362637519836},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3304648995399475},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24665242433547974},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.18856844305992126}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8084062933921814},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6647498607635498},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6524386405944824},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6513433456420898},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.505127489566803},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.46257996559143066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4290018081665039},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.42347362637519836},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3304648995399475},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24665242433547974},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.18856844305992126},{"id":"https://openalex.org/C61445026","wikidata":"https://www.wikidata.org/wiki/Q217608","display_name":"Fixed point","level":2,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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.2015.7140075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140075","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1509185796","https://openalex.org/W1518680072","https://openalex.org/W1966852412","https://openalex.org/W1972785301","https://openalex.org/W1974222962","https://openalex.org/W1989838848","https://openalex.org/W1992479210","https://openalex.org/W2000462596","https://openalex.org/W2002542909","https://openalex.org/W2021542322","https://openalex.org/W2037971631","https://openalex.org/W2040134986","https://openalex.org/W2124313187","https://openalex.org/W2128453677","https://openalex.org/W2156580773","https://openalex.org/W2157958213","https://openalex.org/W2160380850","https://openalex.org/W3137220996","https://openalex.org/W4235773083","https://openalex.org/W4250390143","https://openalex.org/W6642017954","https://openalex.org/W6648576785","https://openalex.org/W6650362349","https://openalex.org/W6678941962","https://openalex.org/W6682904396","https://openalex.org/W6686169942"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W1508899372","https://openalex.org/W4235240664","https://openalex.org/W2965083567","https://openalex.org/W1838576100","https://openalex.org/W2095886385","https://openalex.org/W2889616422","https://openalex.org/W2089704382","https://openalex.org/W1983399550","https://openalex.org/W97075385"],"abstract_inverted_index":{"Large":[0],"scale,":[1],"long-term,":[2],"distributed":[3,122,152,204],"mapping":[4],"is":[5,198],"a":[6,44,51,113,121,134,165],"core":[7],"challenge":[8],"to":[9,72,76,83,158,175,180],"modern":[10],"field":[11,100],"robotics.":[12],"Using":[13],"the":[14,28,58,64,84,99,102,141,146,159,176,181,215,218],"sensory":[15],"output":[16],"of":[17,30,68,86,104,136,148,155,217],"multiple":[18,41],"robots":[19],"and":[20,33,56,95,108,123,128,144,172,213],"fusing":[21],"it":[22],"in":[23,98],"an":[24,106],"efficient":[25],"way":[26],"enables":[27],"creation":[29],"globally":[31],"accurate":[32],"consistent":[34,129,173],"metric":[35],"maps.":[36],"To":[37],"combine":[38],"data":[39,67,196],"from":[40,60,203],"agents":[42,81,188],"into":[43],"global":[45],"map,":[46],"most":[47],"existing":[48],"approaches":[49,138],"use":[50],"central":[52],"entity":[53],"that":[54,90,139],"collects":[55],"manages":[57],"information":[59],"all":[61],"agents.":[62],"Often,":[63],"raw":[65],"sensor":[66],"one":[69],"robot":[70],"needs":[71],"be":[73],"made":[74],"available":[75],"processing":[77],"algorithms":[78,202],"on":[79,89,210],"other":[80],"due":[82],"lack":[85],"computational":[87],"resources":[88],"robot.":[91],"Unfortunately,":[92],"network":[93],"latency":[94],"low":[96],"bandwidth":[97,142],"limit":[101],"generality":[103],"such":[105],"approach":[107,209],"make":[109],"multi-robot":[110],"map":[111,160,177,182],"building":[112],"tedious":[114],"task.":[115],"In":[116],"this":[117],"paper,":[118],"we":[119,163],"present":[120],"decentralized":[124],"back-end":[125],"for":[126,151,195],"concurrent":[127,171],"robotic":[130],"mapping.":[131,153],"We":[132,206],"propose":[133],"set":[135],"novel":[137],"reduce":[140],"usage":[143],"increase":[145],"effectiveness":[147,216],"inter-robot":[149],"communication":[150],"Instead":[154],"locking":[156],"access":[157,174],"during":[161],"operations,":[162],"define":[164],"version":[166],"control":[167],"system":[168],"which":[169,189],"allows":[170],"data.":[178],"Updates":[179],"are":[183],"then":[184],"shared":[185],"asynchronously":[186],"with":[187],"previously":[190],"registered":[191],"notifications.":[192],"A":[193],"technique":[194],"lookup":[197],"provided":[199],"by":[200],"state-of-the-art":[201],"computing.":[205],"validate":[207],"our":[208],"real-world":[211],"datasets":[212],"demonstrate":[214],"proposed":[219],"algorithms.":[220]},"counts_by_year":[{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":9},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}