{"id":"https://openalex.org/W2150865826","doi":"https://doi.org/10.1109/iros.2007.4398974","title":"Differential evolution approach to the grid-based localization and mapping problem","display_name":"Differential evolution approach to the grid-based localization and mapping problem","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2150865826","doi":"https://doi.org/10.1109/iros.2007.4398974","mag":"2150865826"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4398974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398974","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]},{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Luis Moreno","raw_affiliation_strings":["Robotics Laboratory, Carlos III Technical University of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Carlos III Technical University of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030540686","display_name":"Santiago Garrido","orcid":"https://orcid.org/0000-0002-3838-8421"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]},{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Santiago Garrido","raw_affiliation_strings":["Robotics Laboratory, Carlos III Technical University of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Carlos III Technical University of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103057835","display_name":"Fernando Mart\u00edn","orcid":"https://orcid.org/0000-0001-9508-4806"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Martin","raw_affiliation_strings":["Robotics Laboratory, Carlos III Technical University of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Carlos III Technical University of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087431602","display_name":"M. Luisa Munoz","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M. Luisa Munoz","raw_affiliation_strings":["Faculated de Inform\u00e1tica, Polytechnical University of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Faculated de Inform\u00e1tica, Polytechnical University of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028039528"],"corresponding_institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60630741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3479","last_page":"3484"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/monte-carlo-localization","display_name":"Monte Carlo localization","score":0.7851903438568115},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7751551866531372},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.750535249710083},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6884632706642151},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6853786706924438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5798923373222351},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5629695057868958},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5175551772117615},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5163391828536987},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.504278302192688},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.483119934797287},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4404560923576355},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4183717668056488},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37735670804977417}],"concepts":[{"id":"https://openalex.org/C106480740","wikidata":"https://www.wikidata.org/wiki/Q6904694","display_name":"Monte Carlo localization","level":4,"score":0.7851903438568115},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7751551866531372},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.750535249710083},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6884632706642151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6853786706924438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5798923373222351},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5629695057868958},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5175551772117615},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5163391828536987},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.504278302192688},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.483119934797287},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4404560923576355},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4183717668056488},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37735670804977417},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4398974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398974","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.424.4750","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.424.4750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://roboticslab.uc3m.es/publications/IROS07SLAM2.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1547125995","https://openalex.org/W1595159159","https://openalex.org/W1970978369","https://openalex.org/W2026805101","https://openalex.org/W2109513571","https://openalex.org/W2111295154","https://openalex.org/W2115286699","https://openalex.org/W2148228392","https://openalex.org/W2168210109","https://openalex.org/W2173782939","https://openalex.org/W2336416123","https://openalex.org/W2727085722","https://openalex.org/W6740213987"],"related_works":["https://openalex.org/W2765521311","https://openalex.org/W2970345194","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W2152464524","https://openalex.org/W48401697","https://openalex.org/W2047714300"],"abstract_inverted_index":{"A":[0,37],"new":[1],"solution":[2],"to":[3,25,80,128,151,158,178],"the":[4,16,22,26,50,54,68,71,82,86,89,106,116,122,131,144,153,160,164,168,180,187],"Simultaneous":[5],"Localization":[6,44,146],"and":[7,96,183],"Modelling":[8],"problem":[9,29],"is":[10,13,74,133,142,148],"presented.":[11],"It":[12],"based":[14,84],"on":[15,85],"stochastic":[17],"search":[18],"of":[19,32,105,167,186],"solutions":[20],"in":[21,64,67,156,163,175],"state":[23,51],"space":[24,52],"global":[27,165],"localization":[28],"by":[30],"means":[31],"a":[33,77,93,97,102,113,135,140],"differential":[34],"evolution":[35],"algorithm.":[36],"non":[38],"linear":[39],"evolutive":[40],"filter,":[41],"called":[42],"Evolutive":[43,145],"Filter":[45,147],"(ELF),":[46],"searches":[47],"stochastically":[48],"along":[49],"for":[53],"best":[55],"robot":[56,83,87,124,132,154],"pose":[57],"estimate.":[58],"The":[59,170],"proposed":[60,188],"SLAM":[61],"algorithm":[62,171],"operates":[63],"two":[65],"steps:":[66],"first":[69],"step":[70,115],"ELF":[72],"filter":[73],"used":[75,149],"at":[76,92],"local":[78,98],"level":[79],"re-localize":[81],"odometry,":[88],"laser":[90,118],"scan":[91],"given":[94],"position":[95],"map":[99,166],"where":[100],"only":[101],"low":[103],"number":[104],"last":[107],"scans":[108],"have":[109],"been":[110,173],"integrated.":[111],"In":[112],"second":[114],"aligned":[117],"measures":[119,162],"together":[120],"with":[121],"corrected":[123],"poses":[125,155],"are":[126],"use":[127],"detect":[129],"when":[130],"revisiting":[134],"previously":[136],"crossed":[137],"area.":[138],"Once":[139],"cycle":[141],"detected,":[143],"again":[150],"re-estimate":[152],"order":[157],"integrate":[159],"sensor":[161],"environment.":[169],"has":[172],"tested":[174],"different":[176],"environments":[177],"demonstrate":[179],"effectiveness,":[181],"robustness":[182],"computational":[184],"efficiency":[185],"approach.":[189]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}