{"id":"https://openalex.org/W2419072270","doi":"https://doi.org/10.1109/icra.2016.7487453","title":"Autonomous indoor robot navigation using a sketch interface for drawing maps and routes","display_name":"Autonomous indoor robot navigation using a sketch interface for drawing maps and routes","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2419072270","doi":"https://doi.org/10.1109/icra.2016.7487453","mag":"2419072270"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5027086993","display_name":"Federico Boniardi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Federico Boniardi","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010491672","display_name":"Gian Diego Tipaldi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gian Diego Tipaldi","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, Institute for Computer Science, Freiburg i. Br., Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2896","last_page":"2901"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9958999752998352,"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/sketch","display_name":"Sketch","score":0.8818175792694092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7478219270706177},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.658138632774353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6342546939849854},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6097901463508606},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5976917743682861},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.5964891314506531},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5376829504966736},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5305108428001404},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5123366117477417},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47876206040382385},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.456259548664093},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43622422218322754},{"id":"https://openalex.org/keywords/interpretation","display_name":"Interpretation (philosophy)","score":0.42592698335647583},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.422341525554657},{"id":"https://openalex.org/keywords/user-interface","display_name":"User interface","score":0.411827027797699},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1947464942932129},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10951527953147888},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.0843690037727356}],"concepts":[{"id":"https://openalex.org/C2779231336","wikidata":"https://www.wikidata.org/wiki/Q7534724","display_name":"Sketch","level":2,"score":0.8818175792694092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7478219270706177},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.658138632774353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6342546939849854},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6097901463508606},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5976917743682861},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.5964891314506531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5376829504966736},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5305108428001404},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5123366117477417},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47876206040382385},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.456259548664093},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43622422218322754},{"id":"https://openalex.org/C527412718","wikidata":"https://www.wikidata.org/wiki/Q855395","display_name":"Interpretation (philosophy)","level":2,"score":0.42592698335647583},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.422341525554657},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.411827027797699},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1947464942932129},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10951527953147888},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.0843690037727356},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W22690704","https://openalex.org/W23723747","https://openalex.org/W1579787924","https://openalex.org/W2000321478","https://openalex.org/W2029806546","https://openalex.org/W2042452952","https://openalex.org/W2043242772","https://openalex.org/W2064141542","https://openalex.org/W2080823437","https://openalex.org/W2095831061","https://openalex.org/W2122330475","https://openalex.org/W2125953925","https://openalex.org/W2129722986","https://openalex.org/W2146123848","https://openalex.org/W2152830041","https://openalex.org/W2157959921","https://openalex.org/W2322584079","https://openalex.org/W2336416123","https://openalex.org/W2963977469","https://openalex.org/W2976490211","https://openalex.org/W3125871502","https://openalex.org/W6600939341","https://openalex.org/W6600975859","https://openalex.org/W6789607045"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608","https://openalex.org/W2122735287","https://openalex.org/W2324656256"],"abstract_inverted_index":{"Hand-Drawn":[0],"sketches":[1],"are":[2,106],"natural":[3],"means":[4],"by":[5],"which":[6,97],"abstract":[7],"descriptions":[8],"of":[9,37,52,65,73,111,120,130,144],"environments":[10],"can":[11],"be":[12],"provided.":[13],"They":[14],"represent":[15],"weak":[16],"prior":[17],"information":[18],"about":[19],"the":[20,38,63,84,100,103,118,138,142,145],"scene,":[21],"thereby":[22],"enabling":[23],"a":[24,33,58,66,70,80,90,112,128],"robot":[25,67,85],"to":[26,61,68,86],"perform":[27],"autonomous":[28],"navigation":[29,54,139],"and":[30,102,123,141],"exploration":[31],"when":[32],"full":[34],"metrical":[35],"description":[36],"environment":[39,76],"is":[40],"not":[41],"available":[42],"beforehand.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47],"present":[48,124],"an":[49,74],"extensive":[50],"evaluation":[51],"our":[53,121],"system":[55,122],"that":[56],"uses":[57],"sketch":[59,94,101],"interface":[60],"allow":[62],"operator":[64],"draw":[69],"rough":[71],"map":[72],"indoor":[75],"as":[77,79,108],"well":[78],"desired":[81],"trajectory":[82],"for":[83,93],"follow.":[87],"We":[88,116],"employ":[89],"theoretical":[91],"framework":[92],"interpretation,":[95],"in":[96,132],"associations":[98],"between":[99],"real":[104],"world":[105],"modeled":[107],"local":[109],"deformations":[110],"suitable":[113],"metric":[114],"manifold.":[115],"investigate":[117],"effectiveness":[119],"empirical":[125],"results":[126],"from":[127],"set":[129],"experiments":[131],"real-world":[133],"scenarios,":[134],"focusing":[135],"both":[136],"on":[137],"capabilities":[140],"usability":[143],"interface.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
