{"id":"https://openalex.org/W4417251972","doi":"https://doi.org/10.1109/lra.2025.3643274","title":"MANG-SLAM: Multi-Agent Neural Submap and Gaussian Representation for Dense Mapping","display_name":"MANG-SLAM: Multi-Agent Neural Submap and Gaussian Representation for Dense Mapping","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417251972","doi":"https://doi.org/10.1109/lra.2025.3643274"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3643274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643274","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":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yonghao Li","orcid":"https://orcid.org/0009-0006-3810-2194"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonghao Li","raw_affiliation_strings":["Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-3810-2194","affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100714384","display_name":"Ping Ye","orcid":"https://orcid.org/0000-0002-6624-0627"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Ye","raw_affiliation_strings":["Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065066037","display_name":"Qingxuan Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxuan Jia","raw_affiliation_strings":["Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9533-3275","affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7783,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.94945044,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"11","issue":"2","first_page":"2242","last_page":"2249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9769999980926514,"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":0.9769999980926514,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0035000001080334187,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10531","display_name":"Advanced Vision and Imaging","score":0.0031999999191612005,"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/replica","display_name":"Replica","score":0.6689000129699707},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6653000116348267},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.660099983215332},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6272000074386597},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5424000024795532},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5127000212669373},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.47600001096725464},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.44670000672340393}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7404000163078308},{"id":"https://openalex.org/C2775937380","wikidata":"https://www.wikidata.org/wiki/Q1232589","display_name":"Replica","level":2,"score":0.6689000129699707},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6653000116348267},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.660099983215332},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6272000074386597},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5424000024795532},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5127000212669373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5037000179290771},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48579999804496765},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.47600001096725464},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.44670000672340393},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3659000098705292},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.353300005197525},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C89720835","wikidata":"https://www.wikidata.org/wiki/Q1531701","display_name":"Global illumination","level":3,"score":0.2957000136375427},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2718999981880188},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3643274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643274","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"}],"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/W2594519801","https://openalex.org/W2803770871","https://openalex.org/W2906636743","https://openalex.org/W2926429807","https://openalex.org/W2963706662","https://openalex.org/W3203570626","https://openalex.org/W4200150166","https://openalex.org/W4312280100","https://openalex.org/W4312878643","https://openalex.org/W4312969460","https://openalex.org/W4313590817","https://openalex.org/W4386066696","https://openalex.org/W4388755261","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716305","https://openalex.org/W4402716403","https://openalex.org/W4402727865","https://openalex.org/W4402754302","https://openalex.org/W4403779097","https://openalex.org/W4413147035","https://openalex.org/W4413157515","https://openalex.org/W4415536594","https://openalex.org/W4415538190"],"related_works":[],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"and":[2,12,23,29,75,120,144,156,169,176,181,184],"Mapping":[3],"(SLAM)":[4],"is":[5,50],"a":[6,89],"core":[7],"component":[8],"in":[9,58,79],"robotic":[10],"navigation":[11],"augmented/virtual":[13],"reality":[14],"technologies.":[15],"<bold":[16,60,86,103],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[17,61,87,104],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Multi-agent":[18],"collaborative":[19,81],"SLAM</b>":[20],"improves":[21,153],"scalability":[22],"consistency":[24,168],"by":[25,53,124],"distributing":[26],"mapping":[27,123],"tasks":[28],"sharing":[30],"observations,":[31],"making":[32],"it":[33],"suitable":[34],"for":[35,68,138],"large-scale":[36],"environments.":[37],"However,":[38],"current":[39,59],"3DGS-SLAM":[40],"systems":[41],"have":[42],"yet":[43],"to":[44,107,117],"fully":[45],"utilize":[46],"this":[47],"architecture.":[48],"This":[49,83,147],"primarily":[51],"limited":[52],"the":[54,135,174],"lack":[55],"of":[56],"capabilities":[57],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3D":[62],"Gaussian":[63],"Splatting":[64],"(3DGS)</b>-based":[65],"SLAM":[66,92],"methods":[67],"addressing":[69],"global":[70,118,145,167],"drift,":[71,152],"loop":[72,141],"closure":[73,142],"detection,":[74,143],"scene":[76],"gap":[77,158],"filling":[78],"multi-agent":[80,96],"scenarios.":[82],"paper":[84],"proposes":[85],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">MANG-SLAM</b>,":[88],"progressive":[90],"dense":[91],"system":[93],"that":[94,163],"integrates":[95],"collaboration":[97],"with":[98],"neural":[99],"submaps.":[100],"By":[101],"leveraging":[102],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Neural":[105],"Submaps</b>":[106],"guide":[108],"3DGS":[109],"rendering,":[110],"MANG-SLAM":[111,164],"achieves":[112],"efficient":[113,180],"optimization":[114],"from":[115],"local":[116,170],"levels":[119],"supports":[121],"parallel":[122],"multi-agents.":[125],"Each":[126],"agent":[127],"independently":[128],"generates":[129],"submaps,":[130],"which":[131],"are":[132],"fused":[133],"on":[134,173],"server":[136],"side":[137],"submap":[139],"integration,":[140],"optimization.":[146],"approach":[148],"effectively":[149],"corrects":[150],"accumulated":[151],"geometric":[154],"consistency,":[155],"enables":[157],"filling.":[159],"Experimental":[160],"results":[161],"demonstrate":[162],"enhances":[165],"both":[166],"detail":[171],"recovery":[172],"Replica":[175],"ScanNet":[177],"datasets,":[178],"achieving":[179],"accurate":[182],"reconstruction":[183],"localization.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-12-11T00:00:00"}
