{"id":"https://openalex.org/W4312283138","doi":"https://doi.org/10.1109/iros47612.2022.9981336","title":"Navigating underground environments using simple topological representations","display_name":"Navigating underground environments using simple topological representations","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312283138","doi":"https://doi.org/10.1109/iros47612.2022.9981336"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981336","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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://zaguan.unizar.es/record/133276/files/texto_completo.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002896874","display_name":"Lorenzo Cano","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Lorenzo Cano","raw_affiliation_strings":["Universidad de Zaragoza"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad de Zaragoza","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017645681","display_name":"Alejandro R. Mosteo","orcid":"https://orcid.org/0000-0001-7853-3622"},"institutions":[{"id":"https://openalex.org/I4210100615","display_name":"Centro Universitario de la Defensa en San Javier","ror":"https://ror.org/00nqz4988","country_code":"ES","type":"education","lineage":["https://openalex.org/I4210100615"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alejandro R. Mosteo","raw_affiliation_strings":["Centro Universitario de la defensa,Zaragoza","Centro Universitario de la defensa, Zaragoza"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Universitario de la defensa,Zaragoza","institution_ids":["https://openalex.org/I4210100615"]},{"raw_affiliation_string":"Centro Universitario de la defensa, Zaragoza","institution_ids":["https://openalex.org/I4210100615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059668032","display_name":"Danilo Tardioli","orcid":"https://orcid.org/0000-0002-7600-0002"},"institutions":[{"id":"https://openalex.org/I4210100615","display_name":"Centro Universitario de la Defensa en San Javier","ror":"https://ror.org/00nqz4988","country_code":"ES","type":"education","lineage":["https://openalex.org/I4210100615"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Danilo Tardioli","raw_affiliation_strings":["Centro Universitario de la defensa,Zaragoza","Centro Universitario de la defensa, Zaragoza"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Universitario de la defensa,Zaragoza","institution_ids":["https://openalex.org/I4210100615"]},{"raw_affiliation_string":"Centro Universitario de la defensa, Zaragoza","institution_ids":["https://openalex.org/I4210100615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2901,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90858209,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1717","last_page":"1724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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":0.9983000159263611,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9977999925613403,"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/T10757","display_name":"Geographic Information Systems Studies","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.8099731206893921},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5201275944709778},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.48905739188194275},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21589252352714539},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.10309264063835144},{"id":"https://openalex.org/keywords/epistemology","display_name":"Epistemology","score":0.06772980093955994}],"concepts":[{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.8099731206893921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5201275944709778},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.48905739188194275},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21589252352714539},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.10309264063835144},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.06772980093955994},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981336","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:zaguan.unizar.es:133276","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/133276","pdf_url":"https://zaguan.unizar.es/record/133276/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zaguan.unizar.es:133276","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/133276","pdf_url":"https://zaguan.unizar.es/record/133276/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312283138.pdf","grobid_xml":"https://content.openalex.org/works/W4312283138.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1480238756","https://openalex.org/W1515834983","https://openalex.org/W1522301498","https://openalex.org/W1979179235","https://openalex.org/W2040052921","https://openalex.org/W2090302437","https://openalex.org/W2125420246","https://openalex.org/W2129435845","https://openalex.org/W2145428340","https://openalex.org/W2169528473","https://openalex.org/W2586338891","https://openalex.org/W2921521985","https://openalex.org/W2969015470","https://openalex.org/W2994627688","https://openalex.org/W3003718768","https://openalex.org/W3034728521","https://openalex.org/W3044239796","https://openalex.org/W3091596629","https://openalex.org/W3130186063","https://openalex.org/W3185052498","https://openalex.org/W4294225490","https://openalex.org/W6631190155","https://openalex.org/W6748848655","https://openalex.org/W6778299498"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1585007175","https://openalex.org/W2382521049","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2144385241","https://openalex.org/W2358668433","https://openalex.org/W4396701345"],"abstract_inverted_index":{"Underground":[0],"environments":[1,50],"are":[2],"some":[3],"of":[4,23,44,58,104,117,126,140,146,157],"the":[5,59,74,92,119,138,144,155,158],"most":[6],"challenging":[7],"for":[8],"autonomous":[9,42],"navigation.":[10],"The":[11,62,102,128],"long,":[12],"featureless":[13],"corridors,":[14],"loose":[15],"and":[16,21,80],"slippery":[17],"soils,":[18],"bad":[19],"illumination":[20],"unavailability":[22],"global":[24],"localization":[25],"make":[26],"many":[27],"traditional":[28],"approaches":[29],"struggle.":[30],"In":[31],"this":[32,114],"work,":[33],"a":[34,45,54,96,105,110,123,147],"topological-based":[35],"navigation":[36,43,149],"system":[37,150],"is":[38,65,87,130],"presented":[39],"that":[40,151],"enables":[41],"ground":[46],"robot":[47,97],"in":[48,122,137],"mine-like":[49],"relying":[51],"exclusively":[52],"on":[53],"high-level":[55,69],"topological":[56,63,70],"representation":[57,64],"tunnel":[60],"network.":[61],"used":[66,72,88],"to":[67,76,89,95,108,113,133],"generate":[68],"instructions":[71],"by":[73],"agent":[75],"navigate":[77],"through":[78],"corridors":[79],"intersections.":[81],"A":[82],"convolutional":[83],"neural":[84],"network":[85],"(CNN)":[86],"detect":[90,134],"all":[91],"galleries":[93,120,135],"accessible":[94],"from":[98],"its":[99],"current":[100],"position.":[101],"use":[103],"CNN":[106,129],"proves":[107],"be":[109],"reliable":[111],"approach":[112],"problem,":[115],"capable":[116],"detecting":[118],"correctly":[121],"wide":[124],"variety":[125],"situations.":[127],"also":[131],"able":[132],"even":[136],"presence":[139],"obstacles,":[141],"which":[142],"motivates":[143],"development":[145],"reactive":[148],"can":[152],"effectively":[153],"exploit":[154],"predictions":[156],"gallery":[159],"detection.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
