{"id":"https://openalex.org/W4416750067","doi":"https://doi.org/10.1109/iros60139.2025.11247357","title":"Bio-Inspired Hybrid Map: Spatial Implicit Local Frames and Topological Map for Mobile Cobot Navigation","display_name":"Bio-Inspired Hybrid Map: Spatial Implicit Local Frames and Topological Map for Mobile Cobot Navigation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750067","doi":"https://doi.org/10.1109/iros60139.2025.11247357"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5108842480","display_name":"Tuan Dang","orcid":null},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tuan Dang","raw_affiliation_strings":["University of Texas at Arlington,The Learning and Adaptive Robotics Laboratory,Department of Computer Science and Engineering,Arlington,TX,USA,76013"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Arlington,The Learning and Adaptive Robotics Laboratory,Department of Computer Science and Engineering,Arlington,TX,USA,76013","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073400879","display_name":"Manfred Huber","orcid":null},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manfred Huber","raw_affiliation_strings":["University of Texas at Arlington,The Learning and Adaptive Robotics Laboratory,Department of Computer Science and Engineering,Arlington,TX,USA,76013"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Arlington,The Learning and Adaptive Robotics Laboratory,Department of Computer Science and Engineering,Arlington,TX,USA,76013","institution_ids":["https://openalex.org/I189196454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I189196454"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13377","last_page":"13383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5712000131607056,"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":0.5712000131607056,"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":0.1152999997138977,"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/T12536","display_name":"Topological and Geometric Data Analysis","score":0.04899999871850014,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.5813999772071838},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.57669997215271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5292999744415283},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4991999864578247},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.4564000070095062},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.40869998931884766},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.3831999897956848},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.3763999938964844},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3603000044822693}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7293000221252441},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5813999772071838},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.57669997215271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5719000101089478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5292999744415283},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4991999864578247},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.4564000070095062},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.40869998931884766},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3763999938964844},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3603000044822693},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3549000024795532},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32760000228881836},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.320499986410141},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.31929999589920044},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2922999858856201},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.28870001435279846},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C2780897414","wikidata":"https://www.wikidata.org/wiki/Q7600592","display_name":"Star (game theory)","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.2526000142097473},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2072843066","https://openalex.org/W2108134361","https://openalex.org/W2146367411","https://openalex.org/W2160584648","https://openalex.org/W2250172176","https://openalex.org/W2523049145","https://openalex.org/W2535547924","https://openalex.org/W2560647685","https://openalex.org/W2766936425","https://openalex.org/W2951730755","https://openalex.org/W2963627347","https://openalex.org/W2963706662","https://openalex.org/W2967846306","https://openalex.org/W2980925180","https://openalex.org/W3000674297","https://openalex.org/W3127066163","https://openalex.org/W4214768561","https://openalex.org/W4383109324","https://openalex.org/W4386066489","https://openalex.org/W4390874575","https://openalex.org/W4399426392","https://openalex.org/W4400228262","https://openalex.org/W4405785081","https://openalex.org/W4405787698"],"related_works":[],"abstract_inverted_index":{"Navigation":[0],"is":[1],"a":[2,69,132,138],"fundamental":[3],"capacity":[4],"for":[5],"mobile":[6],"robots,":[7],"enabling":[8],"them":[9],"to":[10,23,44,63,158],"operate":[11],"autonomously":[12],"in":[13,81,98,103,161,171],"complex":[14],"and":[15,26,41,60,77,112,154,174],"dynamic":[16],"environments.":[17,65,83,162,176],"Conventional":[18],"approaches":[19,34],"use":[20],"probabilistic":[21],"models":[22],"localize":[24],"robots":[25,46],"build":[27,87],"maps":[28],"simultaneously":[29],"using":[30],"sensor":[31],"observations.":[32],"Recent":[33],"employ":[35],"human-inspired":[36],"learning,":[37,43],"such":[38],"as":[39,131],"imitation":[40],"reinforcement":[42],"navigate":[45,78,159],"more":[47],"effectively.":[48],"However,":[49],"these":[50],"methods":[51],"suffer":[52],"from":[53],"high":[54],"computational":[55],"costs,":[56],"global":[57,127],"map":[58,129,157],"inconsistency,":[59],"poor":[61],"generalization":[62],"unseen":[64],"This":[66],"paper":[67],"presents":[68],"novel":[70,82,139],"method":[71],"inspired":[72],"by":[73],"how":[74,92],"humans":[75,93],"perceive":[76],"themselves":[79],"effectively":[80,160],"Specifically,":[84],"we":[85,120,136,167],"first":[86],"local":[88,104,117,123,152],"frames":[89,105,124,153],"that":[90,149],"mimic":[91],"represent":[94],"essential":[95],"spatial":[96,110],"information":[97,111],"the":[99,126,155],"short":[100],"term.":[101],"Points":[102],"are":[106],"hybrid":[107],"representations,":[108],"including":[109],"learned":[113],"features,":[114],"so-called":[115],"spatial-implicit":[116,122,151],"frames.":[118],"Then,":[119],"integrate":[121],"into":[125],"topological":[128,156],"represented":[130],"factor":[133],"graph.":[134],"Lastly,":[135],"developed":[137],"navigation":[140],"algorithm":[141],"based":[142],"on":[143],"Rapid-Exploring":[144],"Random":[145],"Tree":[146],"Star":[147],"(RRT*)":[148],"leverages":[150],"To":[163],"validate":[164],"our":[165,179],"approach,":[166],"conduct":[168],"extensive":[169],"experiments":[170],"real-world":[172],"datasets":[173],"in-lab":[175],"We":[177],"open":[178],"source":[180],"code":[181],"at":[182],"https://github.com/tuantdang/simn.":[183]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}