{"id":"https://openalex.org/W3094029947","doi":"https://doi.org/10.1109/lra.2021.3068954","title":"A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift","display_name":"A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift","publication_year":2021,"publication_date":"2021-03-25","ids":{"openalex":"https://openalex.org/W3094029947","doi":"https://doi.org/10.1109/lra.2021.3068954","mag":"3094029947"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068954","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.09859","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091653340","display_name":"Lukas Schmid","orcid":"https://orcid.org/0000-0002-3961-8145"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lukas Schmid","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037858247","display_name":"Victor Reijgwart","orcid":"https://orcid.org/0000-0002-7605-8490"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Victor Reijgwart","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033725695","display_name":"Lionel Ott","orcid":"https://orcid.org/0000-0001-6554-0575"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lionel Ott","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, Department of Mechanical and Process Engineering, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.6346,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.91445148,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"4504","last_page":"4511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/odometry","display_name":"Odometry","score":0.8092776536941528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.682807981967926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6400973200798035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5546730756759644},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5518605709075928},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5465977787971497},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4935954809188843},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47805291414260864},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4779398739337921},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4630662798881531},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3262574076652527},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11394396424293518}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8092776536941528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682807981967926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6400973200798035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5546730756759644},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5518605709075928},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5465977787971497},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4935954809188843},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47805291414260864},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4779398739337921},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4630662798881531},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3262574076652527},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11394396424293518},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3068954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068954","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2010.09859","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.09859","pdf_url":"https://arxiv.org/pdf/2010.09859","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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.09859","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.09859","pdf_url":"https://arxiv.org/pdf/2010.09859","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":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1512885570","https://openalex.org/W1941291664","https://openalex.org/W1969483458","https://openalex.org/W2076518796","https://openalex.org/W2099893201","https://openalex.org/W2099940712","https://openalex.org/W2107667896","https://openalex.org/W2133844819","https://openalex.org/W2169781427","https://openalex.org/W2283534560","https://openalex.org/W2409009991","https://openalex.org/W2411093439","https://openalex.org/W2564322318","https://openalex.org/W2573758756","https://openalex.org/W2607968634","https://openalex.org/W2615547864","https://openalex.org/W2754177129","https://openalex.org/W2769990600","https://openalex.org/W2795647461","https://openalex.org/W2810754063","https://openalex.org/W2811158378","https://openalex.org/W2883702102","https://openalex.org/W2910234834","https://openalex.org/W2911679274","https://openalex.org/W2912372166","https://openalex.org/W2916679149","https://openalex.org/W2962794880","https://openalex.org/W2963080995","https://openalex.org/W2973864946","https://openalex.org/W2990284439","https://openalex.org/W3004423979","https://openalex.org/W3006305332","https://openalex.org/W3089716481","https://openalex.org/W3099362956","https://openalex.org/W3100948105","https://openalex.org/W3102129812","https://openalex.org/W3104766777","https://openalex.org/W3168982929","https://openalex.org/W4255045719","https://openalex.org/W4288119543","https://openalex.org/W6737769214","https://openalex.org/W6767600953"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Exploration":[0],"is":[1,12,58,130,150],"a":[2,49,107],"fundamental":[3],"problem":[4],"in":[5,33,106],"robot":[6,41],"autonomy.":[7],"A":[8],"major":[9],"limitation,":[10],"however,":[11],"that":[13],"during":[14],"exploration":[15,44,66,116],"robots":[16],"oftentimes":[17],"have":[18],"to":[19,40,60,88,101,135],"rely":[20],"on":[21],"on-board":[22],"systems":[23],"alone":[24],"for":[25,53,121],"state":[26,137],"estimation,":[27],"accumulating":[28],"significant":[29],"drift":[30],"over":[31],"time":[32],"large":[34,68],"environments.":[35],"Drift":[36],"can":[37],"be":[38],"detrimental":[39],"safety":[42,90],"and":[43,56,63,83,85,91,111,124,133],"performance.":[45],"In":[46],"this":[47],"work,":[48],"submap-based,":[50],"multi-layer":[51],"approach":[52,79,96],"both":[54],"mapping":[55,87],"planning":[57,95],"proposed":[59],"enable":[61],"safe":[62],"efficient":[64,122],"volumetric":[65,104],"of":[67,77,115,138],"scale":[69],"environments":[70],"despite":[71],"odometry":[72],"drift.":[73],"The":[74,127],"central":[75],"idea":[76],"our":[78,94],"combines":[80],"local":[81,123],"(temporally":[82],"spatially)":[84],"global":[86,103,109,125],"guarantee":[89],"efficiency.":[92],"Similarly,":[93],"leverages":[97],"the":[98,113,139],"presented":[99,128],"map":[100,110],"compute":[102],"frontiers":[105],"changing":[108],"utilizes":[112],"nature":[114],"dealing":[117],"with":[118],"partial":[119],"information":[120],"planning.":[126],"system":[129],"thoroughly":[131],"evaluated":[132],"shown":[134],"outperform":[136],"art":[140],"methods":[141],"even":[142],"under":[143],"drift-free":[144],"conditions.":[145],"Our":[146],"system,":[147],"termed":[148],"GLocal,":[149],"made":[151],"available":[152],"open":[153],"source.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}