{"id":"https://openalex.org/W3099242882","doi":"https://doi.org/10.1109/iros45743.2020.9341680","title":"Dense Decentralized Multi-robot SLAM based on locally consistent TSDF submaps","display_name":"Dense Decentralized Multi-robot SLAM based on locally consistent TSDF submaps","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3099242882","doi":"https://doi.org/10.1109/iros45743.2020.9341680","mag":"3099242882"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02995279","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043320881","display_name":"Rodolphe Dubois","orcid":"https://orcid.org/0000-0002-2404-8039"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rodolphe Dubois","raw_affiliation_strings":["Centrale Nantes, LS2N, Nantes, France","DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","DTIS, ONERA, Universit\u00e9 Paris Saclay [Palaiseau]","ECN -\n        \u00c9cole Centrale de Nantes","LS2N - \u00e9quipe ARMEN -\n        Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centrale Nantes, LS2N, Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I100445878","https://openalex.org/I4210117005"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay [Palaiseau]","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"ECN -\n        \u00c9cole Centrale de Nantes","institution_ids":["https://openalex.org/I100445878"]},{"raw_affiliation_string":"LS2N - \u00e9quipe ARMEN -\n        Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028716990","display_name":"Alexandre Eudes","orcid":"https://orcid.org/0000-0002-3370-5950"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Eudes","raw_affiliation_strings":["DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","DTIS, ONERA, Universit\u00e9 Paris Saclay [Palaiseau]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay [Palaiseau]","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055919342","display_name":"Julien Moras","orcid":"https://orcid.org/0000-0003-2959-7544"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Julien Moras","raw_affiliation_strings":["DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","DTIS, ONERA, Universit\u00e9 Paris Saclay [Palaiseau]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]},{"raw_affiliation_string":"DTIS, ONERA, Universit\u00e9 Paris Saclay [Palaiseau]","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014078329","display_name":"Vincent Fr\u00e9mont","orcid":"https://orcid.org/0000-0002-1627-2241"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Fremont","raw_affiliation_strings":["Centrale Nantes, LS2N, Nantes, France","LS2N -\n        Laboratoire des Sciences du Num\u00e9rique de Nantes","LS2N - \u00e9quipe ARMEN -\n        Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement","ECN -\n        \u00c9cole Centrale de Nantes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centrale Nantes, LS2N, Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I100445878","https://openalex.org/I4210117005"]},{"raw_affiliation_string":"LS2N -\n        Laboratoire des Sciences du Num\u00e9rique de Nantes","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]},{"raw_affiliation_string":"LS2N - \u00e9quipe ARMEN -\n        Autonomie des Robots et Ma\u00eetrise des interactions avec l\u2019ENvironnement","institution_ids":[]},{"raw_affiliation_string":"ECN -\n        \u00c9cole Centrale de Nantes","institution_ids":["https://openalex.org/I100445878"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.7505,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.980546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4862","last_page":"4869"},"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":0.996999979019165,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8660369515419006},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7523155212402344},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.713512659072876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6773777008056641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6641124486923218},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6283408403396606},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6170435547828674},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6025415062904358},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4693504273891449},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4382580518722534},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3920358419418335},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11653280258178711}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8660369515419006},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7523155212402344},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.713512659072876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6773777008056641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6641124486923218},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6283408403396606},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6170435547828674},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6025415062904358},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4693504273891449},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4382580518722534},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3920358419418335},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11653280258178711},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9341680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02995279v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02995279","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Oct 2020, Las Vegas, United States. pp.4862-4869, ⟨10.1109/IROS45743.2020.9341680⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02995279v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02995279","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Oct 2020, Las Vegas, United States. pp.4862-4869, ⟨10.1109/IROS45743.2020.9341680⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1912649600","https://openalex.org/W1941291664","https://openalex.org/W1987648924","https://openalex.org/W2009151941","https://openalex.org/W2083624955","https://openalex.org/W2084474153","https://openalex.org/W2084849910","https://openalex.org/W2125188427","https://openalex.org/W2133844819","https://openalex.org/W2152864241","https://openalex.org/W2205443796","https://openalex.org/W2229412420","https://openalex.org/W2250172176","https://openalex.org/W2284939270","https://openalex.org/W2396274919","https://openalex.org/W2415131061","https://openalex.org/W2461937780","https://openalex.org/W2585698528","https://openalex.org/W2607968634","https://openalex.org/W2770176163","https://openalex.org/W2795647461","https://openalex.org/W2798278946","https://openalex.org/W2896711393","https://openalex.org/W2901136733","https://openalex.org/W2902093375","https://openalex.org/W2909157769","https://openalex.org/W2963046720","https://openalex.org/W2963600667","https://openalex.org/W2968879799","https://openalex.org/W2980935110","https://openalex.org/W2990284439","https://openalex.org/W3102129812","https://openalex.org/W3104766777","https://openalex.org/W3105489439","https://openalex.org/W3124420883","https://openalex.org/W4233857083","https://openalex.org/W4289145348","https://openalex.org/W6618872416","https://openalex.org/W6640185247","https://openalex.org/W6732652919","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W2970345194","https://openalex.org/W1969991288","https://openalex.org/W4200210047","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W2614963770","https://openalex.org/W2980469219","https://openalex.org/W287737911"],"abstract_inverted_index":{"This":[0,21],"article":[1],"introduces":[2],"a":[3,30,40,52],"decentralized":[4],"multi-robot":[5,99],"algorithm":[6],"for":[7],"Simultaneous":[8],"Localization":[9],"And":[10],"Mapping":[11],"(SLAM)":[12],"inspired":[13],"from":[14,70,102],"previous":[15],"work":[16],"on":[17,39,98],"collaborative":[18],"mapping":[19],"[1].":[20],"method":[22,94],"makes":[23],"robots":[24],"jointly":[25],"build":[26],"and":[27,50,65,75,85],"exchange":[28],"i)":[29],"collection":[31],"of":[32,47,92],"3D":[33],"dense":[34],"locally":[35],"consistent":[36],"submaps,":[37],"based":[38],"Truncated":[41],"Signed":[42],"Distance":[43],"Field":[44],"(TSDF)":[45],"representation":[46,54],"the":[48,57,62,66,71,87,103],"environment,":[49],"ii)":[51],"pose-graph":[53],"which":[55],"encodes":[56],"relative":[58],"pose":[59],"constraints":[60],"between":[61],"TSDF":[63,88],"submaps":[64],"trajectory":[67],"keyframes,":[68],"derived":[69],"odometry,":[72],"inter-robot":[73],"observations":[74],"loop":[76,79],"closures.":[77],"Such":[78],"closures":[80],"are":[81],"spotted":[82],"by":[83],"aligning":[84],"fusing":[86],"submaps.":[89],"The":[90],"performances":[91],"this":[93],"have":[95],"been":[96],"evaluated":[97],"scenarios":[100],"built":[101],"EuRoC":[104],"dataset":[105],"[2].":[106]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}