{"id":"https://openalex.org/W4389665630","doi":"https://doi.org/10.1109/iros55552.2023.10341838","title":"Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams","display_name":"Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665630","doi":"https://doi.org/10.1109/iros55552.2023.10341838"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yun Chang","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043068916","display_name":"Nathan Hughes","orcid":"https://orcid.org/0000-0002-1201-7032"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Hughes","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002978188","display_name":"Aaron Ray","orcid":"https://orcid.org/0000-0002-9407-091X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Ray","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Laboratory for Information & Decision Systems,Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082750695"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":9.2386,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.97714191,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10995","last_page":"11002"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7466031312942505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7422976493835449},{"id":"https://openalex.org/keywords/adjacency-list","display_name":"Adjacency list","score":0.5562976598739624},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5234884023666382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49962353706359863},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.484190970659256},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.4542083144187927},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43100807070732117},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.4191136360168457},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39629724621772766},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.28672128915786743},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10830983519554138}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7466031312942505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7422976493835449},{"id":"https://openalex.org/C110484373","wikidata":"https://www.wikidata.org/wiki/Q264398","display_name":"Adjacency list","level":2,"score":0.5562976598739624},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5234884023666382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49962353706359863},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.484190970659256},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.4542083144187927},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43100807070732117},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.4191136360168457},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39629724621772766},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.28672128915786743},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10830983519554138},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":81,"referenced_works":["https://openalex.org/W1490670270","https://openalex.org/W1566135517","https://openalex.org/W1574773379","https://openalex.org/W1599888605","https://openalex.org/W1677409904","https://openalex.org/W2011897632","https://openalex.org/W2042452952","https://openalex.org/W2047947369","https://openalex.org/W2049207102","https://openalex.org/W2054442768","https://openalex.org/W2097064869","https://openalex.org/W2097696373","https://openalex.org/W2124386111","https://openalex.org/W2125543527","https://openalex.org/W2131846894","https://openalex.org/W2132185185","https://openalex.org/W2157145031","https://openalex.org/W2161808137","https://openalex.org/W2170049866","https://openalex.org/W2182229738","https://openalex.org/W2201312286","https://openalex.org/W2220727758","https://openalex.org/W2461937780","https://openalex.org/W2523049145","https://openalex.org/W2560862735","https://openalex.org/W2564125379","https://openalex.org/W2593712938","https://openalex.org/W2739423245","https://openalex.org/W2887751724","https://openalex.org/W2888144883","https://openalex.org/W2897828525","https://openalex.org/W2898678504","https://openalex.org/W2919379406","https://openalex.org/W2951019013","https://openalex.org/W2952358048","https://openalex.org/W2960971247","https://openalex.org/W2963479576","https://openalex.org/W2963976794","https://openalex.org/W2964114902","https://openalex.org/W2964327083","https://openalex.org/W2967352563","https://openalex.org/W2973258311","https://openalex.org/W2990129662","https://openalex.org/W2991216808","https://openalex.org/W3004300126","https://openalex.org/W3006449166","https://openalex.org/W3009182881","https://openalex.org/W3012089996","https://openalex.org/W3014641072","https://openalex.org/W3039925688","https://openalex.org/W3043254872","https://openalex.org/W3082411600","https://openalex.org/W3090386798","https://openalex.org/W3099567080","https://openalex.org/W3102330937","https://openalex.org/W3104290757","https://openalex.org/W3111598592","https://openalex.org/W3124420883","https://openalex.org/W3130848239","https://openalex.org/W3160440378","https://openalex.org/W3183042936","https://openalex.org/W3192660112","https://openalex.org/W3201048198","https://openalex.org/W3206707024","https://openalex.org/W3207953086","https://openalex.org/W4226236972","https://openalex.org/W4226481925","https://openalex.org/W4281555123","https://openalex.org/W4283332944","https://openalex.org/W4285058186","https://openalex.org/W4285506552","https://openalex.org/W4285613949","https://openalex.org/W4288391263","https://openalex.org/W4300047986","https://openalex.org/W4300450142","https://openalex.org/W4382725382","https://openalex.org/W4386071839","https://openalex.org/W4388755261","https://openalex.org/W6634982934","https://openalex.org/W6749858761","https://openalex.org/W6765425951"],"related_works":["https://openalex.org/W2611163850","https://openalex.org/W2045155990","https://openalex.org/W4313163053","https://openalex.org/W1845849701","https://openalex.org/W3015250136","https://openalex.org/W1980812295","https://openalex.org/W4300973204","https://openalex.org/W2900798793","https://openalex.org/W4392007279","https://openalex.org/W4387129494"],"abstract_inverted_index":{"3D":[0,15,59,84,134],"scene":[1,60,85,112,135],"graphs":[2,136],"have":[3],"recently":[4],"emerged":[5],"as":[6,17],"an":[7],"expressive":[8],"high-level":[9],"map":[10,150],"representation":[11],"that":[12],"describes":[13,46],"a":[14,18,57,70,76,82],"environment":[16],"layered":[19],"graph":[20,61,86,113],"where":[21],"nodes":[22,114],"represent":[23,37],"spatial":[24,51],"concepts":[25,40],"at":[26],"multiple":[27,92],"levels":[28],"of":[29,55,80,143],"abstraction":[30],"(e.g.,":[31,41],"objects,":[32],"rooms,":[33],"buildings)":[34],"and":[35,103,123,126],"edges":[36],"relations":[38],"between":[39,99],"inclusion,":[42],"adjacency).":[43],"This":[44],"paper":[45],"Hydra-Multi,":[47],"the":[48,96,100,111],"first":[49],"multi-robot":[50,58],"perception":[52],"system":[53,78],"capable":[54,79],"constructing":[56,81],"online":[62],"from":[63,91,115],"sensor":[64,157],"data":[65],"collected":[66],"by":[67,87,147,153],"robots":[68,154],"in":[69],"team.":[71],"In":[72],"particular,":[73],"we":[74],"develop":[75],"centralized":[77],"joint":[83],"taking":[88],"incremental":[89],"inputs":[90],"robots,":[93],"effectively":[94],"finding":[95],"relative":[97],"transforms":[98],"robots'":[101],"frames,":[102],"incorporating":[104],"loop":[105],"closure":[106],"detections":[107],"to":[108,131],"correctly":[109],"reconcile":[110],"different":[116,149,156],"robots.":[117],"We":[118,138],"evaluate":[119],"Hydra-Multi":[120],"on":[121],"simulated":[122],"real":[124],"scenarios":[125],"show":[127],"it":[128],"is":[129],"able":[130],"reconstruct":[132],"accurate":[133],"online.":[137],"also":[139],"demonstrate":[140],"Hydra-Multi's":[141],"capability":[142],"supporting":[144],"heterogeneous":[145],"teams":[146],"fusing":[148],"representations":[151],"built":[152],"with":[155],"suites.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":5}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}