{"id":"https://openalex.org/W3003544682","doi":"https://doi.org/10.1109/iros40897.2019.8968182","title":"Better Lost in Transition Than Lost in Space: SLAM State Machine","display_name":"Better Lost in Transition Than Lost in Space: SLAM State Machine","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003544682","doi":"https://doi.org/10.1109/iros40897.2019.8968182","mag":"3003544682"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5055909842","display_name":"Mirco Colosi","orcid":"https://orcid.org/0000-0001-8141-2725"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mirco Colosi","raw_affiliation_strings":["University La Sapienza of Rome,Italy","University La Sapienza of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"University La Sapienza of Rome,Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"University La Sapienza of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060287208","display_name":"Sebastian Haug","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sebastian Haug","raw_affiliation_strings":["University La Sapienza of Rome,Italy","University La Sapienza of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"University La Sapienza of Rome,Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"University La Sapienza of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073579637","display_name":"Peter Biber","orcid":"https://orcid.org/0000-0002-9700-8708"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Peter Biber","raw_affiliation_strings":["University La Sapienza of Rome,Italy","University La Sapienza of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"University La Sapienza of Rome,Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"University La Sapienza of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111969299","display_name":"Kai O. Arras","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai O. Arras","raw_affiliation_strings":["Robert Bosch Corporate Research,Stuttgart,Germany","Robert Bosch Corporate Research, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Corporate Research,Stuttgart,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["University La Sapienza of Rome,Italy","University La Sapienza of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"University La Sapienza of Rome,Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"University La Sapienza of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5055909842"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":1.1901,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84654799,"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":"362","last_page":"369"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.998199999332428,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7210268974304199},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7045447826385498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6237204670906067},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5686628222465515},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.555658221244812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4879571795463562},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33556854724884033},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.16392621397972107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14341050386428833},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10926112532615662}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7210268974304199},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7045447826385498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6237204670906067},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5686628222465515},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.555658221244812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4879571795463562},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33556854724884033},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.16392621397972107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14341050386428833},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10926112532615662},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1358704","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1358704","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W183587305","https://openalex.org/W1577509784","https://openalex.org/W1989484209","https://openalex.org/W1999399477","https://openalex.org/W2021851106","https://openalex.org/W2050778569","https://openalex.org/W2054442768","https://openalex.org/W2071571922","https://openalex.org/W2097696373","https://openalex.org/W2109271936","https://openalex.org/W2128475506","https://openalex.org/W2137052305","https://openalex.org/W2144491133","https://openalex.org/W2153054365","https://openalex.org/W2411093439","https://openalex.org/W2474281075","https://openalex.org/W2535547924","https://openalex.org/W2754114454","https://openalex.org/W2788806311","https://openalex.org/W2884962765","https://openalex.org/W2888144883","https://openalex.org/W2911169162","https://openalex.org/W3099221239","https://openalex.org/W3099851400","https://openalex.org/W3102327032","https://openalex.org/W6891783026"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2088988140","https://openalex.org/W2803103875","https://openalex.org/W2103019253","https://openalex.org/W28570768","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W2297768894"],"abstract_inverted_index":{"A":[0],"Simultaneous":[1],"Localization":[2],"and":[3,73,122,162],"Mapping":[4],"(SLAM)":[5],"system":[6,72,132],"is":[7,151],"a":[8,55,70,83,108,115,124,129],"complex":[9],"program":[10],"consisting":[11],"of":[12,37,69,78,93,114,128,157],"several":[13,158],"interconnected":[14],"components":[15,40,113],"with":[16],"different":[17],"functionalities":[18],"such":[19,47,98],"as":[20,48,99],"optimization,":[21],"tracking":[22],"or":[23,53,104],"loop":[24],"detection.":[25],"Whereas":[26],"the":[27,34,38,44,66,76,79,112,134,154,180],"literature":[28],"addresses":[29],"in":[30,89,91,164],"detail":[31],"how":[32],"enhancing":[33],"algorithmic":[35],"aspects":[36,68],"individual":[39],"improves":[41],"SLAM":[42,71,87,117,131,148,160],"performance,":[43],"modal":[45,67,80,155],"aspects,":[46],"when":[49],"to":[50,153],"localize,":[51],"relocalize":[52],"close":[54],"loop,":[56],"are":[57],"usually":[58],"left":[59],"aside.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64],"address":[65],"show":[74],"that":[75,169],"design":[77],"controller":[81,156],"has":[82],"strong":[84],"impact":[85],"on":[86],"performance":[88],"particular":[90],"terms":[92],"robustness":[94],"against":[95],"unforeseen":[96,174],"events":[97,175],"sensor":[100],"failures,":[101],"perceptual":[102],"aliasing":[103],"kidnapping.":[105],"We":[106,167],"preset":[107],"novel":[109],"taxonomy":[110],"for":[111],"modern":[116],"system,":[118],"investigate":[119],"their":[120],"interplay":[121],"propose":[123],"highly":[125],"modular":[126],"architecture":[127],"generic":[130],"using":[133],"Unified":[135],"Modeling":[136],"Language":[137],"<sup":[138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">TM</sup>":[140],"(UML)":[141],"state":[142,149,171],"machine":[143,172],"formalism.":[144],"The":[145],"result,":[146],"called":[147],"machine,":[150],"compared":[152],"state-of-the-art":[159,181],"systems":[161],"evaluated":[163],"two":[165],"experiments.":[166],"demonstrate":[168],"our":[170],"handles":[173],"much":[176],"more":[177],"robustly":[178],"than":[179],"systems.":[182]},"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":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
