{"id":"https://openalex.org/W3093966866","doi":"https://doi.org/10.1109/iros51168.2021.9636334","title":"Fast and Robust Bio-inspired Teach and Repeat Navigation","display_name":"Fast and Robust Bio-inspired Teach and Repeat Navigation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3093966866","doi":"https://doi.org/10.1109/iros51168.2021.9636334","mag":"3093966866"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636334","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.11326","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067027869","display_name":"Dominic Dall\u2019Osto","orcid":"https://orcid.org/0000-0002-9549-4490"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Dominic Dall'Osto","raw_affiliation_strings":["Queensland University of Technology.,"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology.,","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071424922","display_name":"Tobias Fischer","orcid":"https://orcid.org/0000-0003-2183-017X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["AU","DE"],"is_corresponding":false,"raw_author_name":"Tobias Fischer","raw_affiliation_strings":["QUT Centre for Robotics, Queensland University of Technology, Brisbane, QLD, Australia","RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["QUT Centre for Robotics, Queensland University of Technology, Brisbane, QLD, Australia","Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"QUT Centre for Robotics, Queensland University of Technology, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911"]},{"raw_affiliation_string":"Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067027869"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":2.8246,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89914381,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"500","last_page":"507"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9959999918937683,"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/computer-science","display_name":"Computer science","score":0.7073268890380859},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7036486864089966},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6492865681648254},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.6065073013305664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6052889823913574},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.552547037601471},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.526027262210846},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5249526500701904},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38918739557266235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3219786286354065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1246897280216217}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7073268890380859},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7036486864089966},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6492865681648254},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.6065073013305664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6052889823913574},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.552547037601471},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.526027262210846},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5249526500701904},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38918739557266235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3219786286354065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1246897280216217},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros51168.2021.9636334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636334","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2010.11326","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.11326","pdf_url":"https://arxiv.org/pdf/2010.11326","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3093966866","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2010.11326v3","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:eprints.qut.edu.au:213012","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"Chapter in Book, Report or Conference volume"},{"id":"doi:10.48550/arxiv.2010.11326","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.11326","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3198253483","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2010.11326","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"arXiv (Cornell University)","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.11326","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.11326","pdf_url":"https://arxiv.org/pdf/2010.11326","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W216012752","https://openalex.org/W1482425222","https://openalex.org/W1668627599","https://openalex.org/W1822331308","https://openalex.org/W1968256583","https://openalex.org/W2006368361","https://openalex.org/W2026881421","https://openalex.org/W2029143333","https://openalex.org/W2075567787","https://openalex.org/W2077965811","https://openalex.org/W2082991751","https://openalex.org/W2107145440","https://openalex.org/W2110405746","https://openalex.org/W2114766649","https://openalex.org/W2124792970","https://openalex.org/W2125938200","https://openalex.org/W2144350520","https://openalex.org/W2146365908","https://openalex.org/W2151900353","https://openalex.org/W2168291804","https://openalex.org/W2169033759","https://openalex.org/W2284029970","https://openalex.org/W2292680506","https://openalex.org/W2338554534","https://openalex.org/W2420012326","https://openalex.org/W2461937780","https://openalex.org/W2485992890","https://openalex.org/W2585141692","https://openalex.org/W2588080760","https://openalex.org/W2742908441","https://openalex.org/W2891174905","https://openalex.org/W2911054817","https://openalex.org/W2914464904","https://openalex.org/W2963341249","https://openalex.org/W3010928503","https://openalex.org/W3083391807","https://openalex.org/W3124420883","https://openalex.org/W3132274946","https://openalex.org/W4230475428","https://openalex.org/W4252031641","https://openalex.org/W6608647691","https://openalex.org/W6681377833","https://openalex.org/W6774838835"],"related_works":["https://openalex.org/W3198253483","https://openalex.org/W3118240012","https://openalex.org/W2326190875","https://openalex.org/W2951954868","https://openalex.org/W2786127704","https://openalex.org/W3103667094","https://openalex.org/W3094429841","https://openalex.org/W2949754979","https://openalex.org/W3200393675","https://openalex.org/W1817535046","https://openalex.org/W3170641298","https://openalex.org/W2296453913","https://openalex.org/W2943115482","https://openalex.org/W2910553134","https://openalex.org/W2542979931","https://openalex.org/W3187558832","https://openalex.org/W252242283","https://openalex.org/W2944935581","https://openalex.org/W2963867315","https://openalex.org/W2774251657"],"abstract_inverted_index":{"Fully":[0],"autonomous":[1],"mobile":[2],"robots":[3],"have":[4],"a":[5,33,46,87,112,128,195,251,261],"multitude":[6],"of":[7,89,197],"potential":[8,42],"applications,":[9],"but":[10],"guaranteeing":[11],"robust":[12,92],"navigation":[13,48,95,120,187],"performance":[14,58],"remains":[15],"an":[16],"open":[17],"research":[18,54],"problem.":[19],"For":[20],"many":[21],"tasks":[22],"such":[23,77],"as":[24,78],"repeated":[25],"infrastructure":[26],"inspection,":[27],"item":[28],"delivery,":[29],"or":[30,220],"inventory":[31],"transport,":[32],"route":[34,252,259],"repeating":[35],"capability":[36],"can":[37,96],"be":[38,97,158],"sufficient":[39],"and":[40,52,68,81,93,104,118,181,200,240,256],"offers":[41],"practical":[43],"advantages":[44],"over":[45],"full":[47],"stack.":[49],"Previous":[50],"teach":[51,117,239],"repeat":[53,119,241,257],"has":[55,69],"achieved":[56,98],"high":[57,72],"in":[59,194,245],"difficult":[60],"conditions":[61],"predominantly":[62],"by":[63,132,160],"using":[64,260],"sophisticated,":[65],"expensive":[66],"sensors,":[67],"often":[70],"had":[71],"computational":[73],"requirements.":[74],"Biological":[75],"systems,":[76],"small":[79],"animals":[80],"insects":[82],"like":[83],"seeing":[84],"ants,":[85],"offer":[86],"proof":[88],"concept":[90],"that":[91,121,258],"generalisable":[94],"with":[99,127,169,253],"extremely":[100],"limited":[101],"visual":[102,137],"systems":[103,211],"computing":[105,163],"power.":[106],"In":[107],"this":[108,167],"work":[109],"we":[110,247],"create":[111],"novel":[113],"asynchronous":[114],"formulation":[115],"for":[116,231],"fully":[122],"utilises":[123],"odometry":[124],"information,":[125],"paired":[126],"correction":[129,144],"signal":[130,145],"driven":[131],"much":[133],"more":[134,190],"computationally":[135],"lightweight":[136],"processing":[138],"than":[139,191],"is":[140,146],"typically":[141],"required.":[142],"This":[143],"also":[147,229],"decoupled":[148],"from":[149],"the":[150,161,177,182,232],"robot\u2019s":[151],"motor":[152],"control,":[153],"allowing":[154],"its":[155],"rate":[156],"to":[157,206,214,249],"modulated":[159],"available":[162],"capacity.":[164],"We":[165,228],"evaluate":[166],"approach":[168,204],"extensive":[170],"experimentation":[171],"on":[172],"two":[173],"different":[174,263],"robotic":[175],"platforms,":[176],"Consequential":[178],"Robotics":[179],"Miro":[180],"Clearpath":[183],"Jackal":[184],"robots,":[185],"across":[186],"trials":[188],"totalling":[189],"6000":[192],"metres":[193],"range":[196],"challenging":[198],"indoor":[199],"outdoor":[201],"environments.":[202],"Our":[203],"continues":[205],"succeed":[207],"when":[208],"multiple":[209],"state-of-the-art":[210],"fail":[212],"due":[213],"low":[215],"resolution":[216],"images,":[217],"unreliable":[218],"odometry,":[219],"lighting":[221],"change,":[222],"while":[223],"requiring":[224],"significantly":[225],"less":[226],"compute.":[227],"\u2013":[230,235],"first":[233],"time":[234],"demonstrate":[236],"versatile":[237],"cross-platform":[238],"without":[242],"changing":[243],"parameters,":[244],"which":[246],"learn":[248],"navigate":[250],"one":[254],"robot":[255],"completely":[262],"robot.":[264]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}