{"id":"https://openalex.org/W4396853083","doi":"https://doi.org/10.1109/lra.2024.3399997","title":"Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM","display_name":"Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4396853083","doi":"https://doi.org/10.1109/lra.2024.3399997"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3399997","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3399997","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2024.3399997","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049743329","display_name":"Miguel Fern\u00e1ndez-Cortizas","orcid":"https://orcid.org/0000-0002-3822-075X"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4405259781","display_name":"Interdisciplinary Centre for Security, Reliability and Trust","ror":"https://ror.org/02qav7c04","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Miguel Fernandez-Cortizas","raw_affiliation_strings":["Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-3822-075X","affiliations":[{"raw_affiliation_string":"Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]},{"raw_affiliation_string":"Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010210818","display_name":"Hriday Bavle","orcid":"https://orcid.org/0000-0002-1732-0647"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4405259781","display_name":"Interdisciplinary Centre for Security, Reliability and Trust","ror":"https://ror.org/02qav7c04","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Hriday Bavle","raw_affiliation_strings":["Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-1732-0647","affiliations":[{"raw_affiliation_string":"Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]},{"raw_affiliation_string":"Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062910739","display_name":"David P\u00e9rez-Saura","orcid":"https://orcid.org/0000-0003-2571-3165"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES","LU"],"is_corresponding":false,"raw_author_name":"David Perez-Saura","raw_affiliation_strings":["Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (UPM-CSIC), Universidad Polit&#x00E9;cnica de Madrid, Madrid, Spain","Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","Automation and Robotics Research Group, Inter-disciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0003-2571-3165","affiliations":[{"raw_affiliation_string":"Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (UPM-CSIC), Universidad Polit&#x00E9;cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"Automation and Robotics Research Group, Inter-disciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078546155","display_name":"Jos\u00e9 Luis S\u00e1nchez-L\u00f3pez","orcid":"https://orcid.org/0000-0001-5018-0925"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4405259781","display_name":"Interdisciplinary Centre for Security, Reliability and Trust","ror":"https://ror.org/02qav7c04","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Jose Luis Sanchez-Lopez","raw_affiliation_strings":["Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0001-5018-0925","affiliations":[{"raw_affiliation_string":"Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]},{"raw_affiliation_string":"Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001678286","display_name":"Pascual Campoy","orcid":"https://orcid.org/0000-0002-9894-2009"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES","LU"],"is_corresponding":false,"raw_author_name":"Pascual Campoy","raw_affiliation_strings":["Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (UPM-CSIC), Universidad Polit&#x00E9;cnica de Madrid, Madrid, Spain","Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","Automation and Robotics Research Group, Inter-disciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-9894-2009","affiliations":[{"raw_affiliation_string":"Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (UPM-CSIC), Universidad Polit&#x00E9;cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"Automation and Robotics Research Group, Inter-disciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049772606","display_name":"Holger Voos","orcid":"https://orcid.org/0000-0002-9600-8386"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4405259781","display_name":"Interdisciplinary Centre for Security, Reliability and Trust","ror":"https://ror.org/02qav7c04","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Holger Voos","raw_affiliation_strings":["Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-9600-8386","affiliations":[{"raw_affiliation_string":"Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]},{"raw_affiliation_string":"Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8517,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.91440118,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"6004","last_page":"6011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9951000213623047,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9951000213623047,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9697999954223633,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12213","display_name":"Marine Ecology and Invasive Species","score":0.9452000260353088,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6591196060180664},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.42778488993644714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3712530732154846},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33576762676239014},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3242730498313904}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6591196060180664},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.42778488993644714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3712530732154846},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33576762676239014},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3242730498313904}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2024.3399997","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3399997","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:oa.upm.es:87896","is_oa":true,"landing_page_url":"https://oa.upm.es/87896/","pdf_url":"https://oa.upm.es/87896/1/10222490.pdf","source":{"id":"https://openalex.org/S4377196323","display_name":"UPM Digital Archive (Technical University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I88060688","host_organization_name":"Universidad Polit\u00e9cnica de Madrid","host_organization_lineage":["https://openalex.org/I88060688"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, ISSN 23773766, 2024-05-13, Vol. 9, No. 6","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:orbilu.uni.lu:10993/59658","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/59658","pdf_url":"https://orbilu.uni.lu/bitstream/10993/59658/1/2401.05152.pdf","source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters (2024-01)","raw_type":"http://purl.org/coar/resource_type/c_6501"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3399997","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3399997","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1152419225","display_name":null,"funder_award_id":"2020/EMT6368","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G1320311629","display_name":null,"funder_award_id":"101070254","funder_id":"https://openalex.org/F4320334322","funder_display_name":"HORIZON EUROPE Framework Programme"},{"id":"https://openalex.org/G2085528529","display_name":null,"funder_award_id":"PDC2022","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G4857905461","display_name":"Secure and Safe Multi-Robot Systems","funder_award_id":"101017258","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5433851957","display_name":null,"funder_award_id":"C22/IS/17387634/DEUS","funder_id":"https://openalex.org/F4320321038","funder_display_name":"Fonds National de la Recherche Luxembourg"},{"id":"https://openalex.org/G5631026304","display_name":null,"funder_award_id":"ID2021-127648OBC32","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G6132766243","display_name":"CoreSense: A Hybrid Cognitive Architecture for Deep Understanding","funder_award_id":"101070254","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6541144913","display_name":null,"funder_award_id":"PDC2022-133643-C22","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G757001765","display_name":null,"funder_award_id":"PTA2021-020671","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321038","display_name":"Fonds National de la Recherche Luxembourg","ror":"https://ror.org/039z13y21"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2564085365","https://openalex.org/W2620629206","https://openalex.org/W2798278946","https://openalex.org/W2891820683","https://openalex.org/W2910489334","https://openalex.org/W2968730217","https://openalex.org/W2976722701","https://openalex.org/W2999402658","https://openalex.org/W3002818939","https://openalex.org/W3007240855","https://openalex.org/W3090386798","https://openalex.org/W3112995165","https://openalex.org/W3130609318","https://openalex.org/W3204117507","https://openalex.org/W4205616157","https://openalex.org/W4226481925","https://openalex.org/W4283332944","https://openalex.org/W4285058186","https://openalex.org/W4285506552","https://openalex.org/W4312629830","https://openalex.org/W4312854990","https://openalex.org/W4312961455","https://openalex.org/W4321191077","https://openalex.org/W4382725382","https://openalex.org/W4383108431","https://openalex.org/W4383108534","https://openalex.org/W4388755261","https://openalex.org/W4389665630","https://openalex.org/W4390357398","https://openalex.org/W4390520658","https://openalex.org/W4391621243","https://openalex.org/W4401415891","https://openalex.org/W6856710561"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W3204019825"],"abstract_inverted_index":{"Collaborative":[0],"Simultaneous":[1],"Localization":[2],"and":[3,55,101,109,156,164],"Mapping":[4],"(CSLAM)":[5],"is":[6,137],"critical":[7],"to":[8,12,35,40,139,180],"enable":[9],"multiple":[10],"robots":[11,60,178],"operate":[13],"in":[14,97,111,154,162],"complex":[15],"environments.":[16],"Most":[17],"CSLAM":[18,89],"techniques":[19],"rely":[20],"on":[21],"raw":[22],"sensor":[23],"measurement":[24],"or":[25],"low-level":[26,56],"features":[27,57],"such":[28],"as":[29],"keyframe":[30],"descriptors,":[31],"which":[32,70],"can":[33],"lead":[34],"wrong":[36],"loop":[37,142],"closures":[38],"due":[39],"the":[41,47,50,59,62,72,75,98,116,120,145,160,167,172],"lack":[42],"of":[43,46,52,64,68,74,147,166,174],"deep":[44],"understanding":[45],"environment.":[48],"Moreover,":[49],"exchange":[51],"these":[53,79],"measurements":[54],"among":[58],"requires":[61],"transmission":[63],"a":[65,87,127],"significant":[66],"amount":[67,173],"data,":[69],"limits":[71],"scalability":[73],"system.":[76],"To":[77,122],"overcome":[78],"limitations,":[80],"we":[81,125],"present":[82,126],"<italic":[83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Multi":[85],"S-Graphs</i>,":[86],"decentralized":[88],"system":[90],"that":[91],"utilizes":[92],"high-level":[93],"semantic-relational":[94],"information":[95,117],"embedded":[96],"four-layered":[99],"hierarchical":[100],"optimizable":[102],"situational":[103],"graphs":[104],"for":[105],"cooperative":[106],"map":[107],"generation":[108],"localization":[110],"structured":[112],"environments":[113,158],"while":[114,170],"minimizing":[115],"exchanged":[118,176],"between":[119,177],"robots.":[121],"support":[123],"this,":[124],"novel":[128],"room-based":[129],"descriptor":[130],"which,":[131],"along":[132],"with":[133],"its":[134],"connected":[135],"walls,":[136],"used":[138],"perform":[140],"inter-robot":[141],"closures,":[143],"addressing":[144],"challenges":[146],"multi-robot":[148],"kidnapped":[149],"problem":[150],"initialization.":[151],"Multiple":[152],"experiments":[153],"simulated":[155],"real":[157],"validate":[159],"improvement":[161],"accuracy":[163],"robustness":[165],"proposed":[168],"approach":[169],"reducing":[171],"data":[175],"compared":[179],"other":[181],"state-of-the-art":[182],"approaches.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}