{"id":"https://openalex.org/W3003858408","doi":"https://doi.org/10.1109/iros40897.2019.8968613","title":"Active SLAM using Connectivity Graphs as Priors","display_name":"Active SLAM using Connectivity Graphs as Priors","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003858408","doi":"https://doi.org/10.1109/iros40897.2019.8968613","mag":"3003858408"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968613","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/A5089798475","display_name":"Alberto Soragna","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":true,"raw_author_name":"Alberto Soragna","raw_affiliation_strings":["La Sapienza University of Rome,Department of Computer Science","Department of Computer Science, La Sapienza University of Rome"],"affiliations":[{"raw_affiliation_string":"La Sapienza University of Rome,Department of Computer Science","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer Science, La Sapienza University of Rome","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108740076","display_name":"Marco Baldini","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco Baldini","raw_affiliation_strings":["KUKA Deutschland GmbH,Augsburg","KUKA Deutschland GmbH, Augsburg"],"affiliations":[{"raw_affiliation_string":"KUKA Deutschland GmbH,Augsburg","institution_ids":["https://openalex.org/I4210129999"]},{"raw_affiliation_string":"KUKA Deutschland GmbH, Augsburg","institution_ids":["https://openalex.org/I4210129999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060487181","display_name":"Dominik Joho","orcid":"https://orcid.org/0000-0002-8263-7157"},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Joho","raw_affiliation_strings":["KUKA Deutschland GmbH,Augsburg","KUKA Deutschland GmbH, Augsburg"],"affiliations":[{"raw_affiliation_string":"KUKA Deutschland GmbH,Augsburg","institution_ids":["https://openalex.org/I4210129999"]},{"raw_affiliation_string":"KUKA Deutschland GmbH, Augsburg","institution_ids":["https://openalex.org/I4210129999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082992033","display_name":"Rainer K\u00fcmmerle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rainer K\u00fcmmerle","raw_affiliation_strings":["KUKA Deutschland GmbH,Augsburg","KUKA Deutschland GmbH, Augsburg"],"affiliations":[{"raw_affiliation_string":"KUKA Deutschland GmbH,Augsburg","institution_ids":["https://openalex.org/I4210129999"]},{"raw_affiliation_string":"KUKA Deutschland GmbH, Augsburg","institution_ids":["https://openalex.org/I4210129999"]}]},{"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":["La Sapienza University of Rome,Department of Computer Science","Department of Computer Science, La Sapienza University of Rome"],"affiliations":[{"raw_affiliation_string":"La Sapienza University of Rome,Department of Computer Science","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer Science, La Sapienza University of Rome","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5089798475"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":2.3802,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.89930824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"340","last_page":"346"},"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.847806990146637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7537744045257568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6034330725669861},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5803606510162354},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5691942572593689},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5549778342247009},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440586805343628},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.508941650390625},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.42080622911453247},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3812893033027649},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35054513812065125},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.18924832344055176},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.10051113367080688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09793975949287415}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.847806990146637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7537744045257568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6034330725669861},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5803606510162354},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5691942572593689},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5549778342247009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440586805343628},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.508941650390625},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.42080622911453247},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3812893033027649},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35054513812065125},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.18924832344055176},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.10051113367080688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09793975949287415},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968613","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:11573/1385375","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1385375","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W154624893","https://openalex.org/W1598458388","https://openalex.org/W1684737195","https://openalex.org/W1988865734","https://openalex.org/W2001609641","https://openalex.org/W2014001040","https://openalex.org/W2023809776","https://openalex.org/W2029780423","https://openalex.org/W2064141542","https://openalex.org/W2080823437","https://openalex.org/W2089437550","https://openalex.org/W2107243728","https://openalex.org/W2107667896","https://openalex.org/W2121625938","https://openalex.org/W2123789618","https://openalex.org/W2139371764","https://openalex.org/W2156195892","https://openalex.org/W2161123599","https://openalex.org/W2296693980","https://openalex.org/W2409009991","https://openalex.org/W2561547890","https://openalex.org/W2571268510","https://openalex.org/W2612086569","https://openalex.org/W2760117960","https://openalex.org/W3105145091","https://openalex.org/W4205236922","https://openalex.org/W4300031234"],"related_works":["https://openalex.org/W4386190339","https://openalex.org/W2968424575","https://openalex.org/W3142333283","https://openalex.org/W2580650124","https://openalex.org/W3122088529","https://openalex.org/W3041320102","https://openalex.org/W2111669074","https://openalex.org/W2085259108","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"can":[2,83],"be":[3,84],"considered":[4],"completely":[5],"autonomous":[6],"if":[7],"they":[8],"embed":[9],"active":[10,55,114,124],"algorithms":[11],"for":[12,111],"Simultaneous":[13],"Localization":[14],"And":[15],"Mapping":[16],"(SLAM).":[17],"This":[18,77],"means":[19],"that":[20,141,151],"the":[21,36,54,66,71,99,106,113,117,127,131,134,148],"robot":[22],"is":[23,68,79,92,160],"able":[24,161],"to":[25,51,122,162],"autonomously,":[26],"or":[27,82],"actively,":[28],"explore":[29],"and":[30],"create":[31],"a":[32,48,74,165],"reliable":[33],"map":[34],"of":[35,73,102,108,119,130,168],"environment,":[37],"while":[38],"simultaneously":[39],"estimating":[40],"its":[41],"pose.":[42],"In":[43,97],"this":[44,120],"paper,":[45],"we":[46],"propose":[47],"novel":[49],"framework":[50],"robustly":[52],"solve":[53],"SLAM":[56,115],"problem,":[57],"in":[58,60,70,87,133,144],"scenarios":[59],"which":[61],"some":[62,139],"prior":[63,109],"information":[64,78,110,121],"about":[65],"environment":[67],"available":[69,81],"form":[72],"topo-metric":[75],"graph.":[76],"typically":[80],"easily":[85],"developed":[86],"industrial":[88],"environments,":[89],"but":[90],"it":[91,159],"usually":[93],"affected":[94],"by":[95],"uncertainties.":[96,171],"particular,":[98],"distinguishing":[100],"features":[101],"our":[103,152],"approach":[104],"are:":[105],"inclusion":[107],"solving":[112],"problem;":[116],"exploitation":[118],"pursue":[123],"loop":[125],"closure;":[126],"on-line":[128],"correction":[129],"inconsistencies":[132],"provided":[135],"data.":[136],"We":[137],"present":[138],"experiments,":[140],"are":[142],"performed":[143],"different":[145],"simulated":[146],"environments:":[147],"results":[149],"suggest":[150],"method":[153],"improves":[154],"on":[155],"state-of-the-art":[156],"approaches,":[157],"as":[158],"deal":[163],"with":[164],"wide":[166],"variety":[167],"possibly":[169],"large":[170]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-02-07T00:00:00"}