{"id":"https://openalex.org/W4226239853","doi":"https://doi.org/10.1109/robio54168.2021.9739395","title":"2D Topological Map Building by UAVs for Ground Robot Navigation","display_name":"2D Topological Map Building by UAVs for Ground Robot Navigation","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226239853","doi":"https://doi.org/10.1109/robio54168.2021.9739395"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739395","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100751794","display_name":"Yuqian Wang","orcid":"https://orcid.org/0000-0003-3755-0586"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuqian Wang","raw_affiliation_strings":["Dalian University of Technology,Intelligent Robotics Laboratory, School of Control Science and Engineering,Dalian,China,116024"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,Intelligent Robotics Laboratory, School of Control Science and Engineering,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101442817","display_name":"Xuetao Zhang","orcid":"https://orcid.org/0000-0002-8485-8818"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuetao Zhang","raw_affiliation_strings":["Dalian University of Technology,Intelligent Robotics Laboratory, School of Artificial Intelligence,Dalian,China,116024"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,Intelligent Robotics Laboratory, School of Artificial Intelligence,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005467310","display_name":"Yisha Liu","orcid":"https://orcid.org/0000-0003-2083-8612"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisha Liu","raw_affiliation_strings":["Dalian Maritime University,School of Information Science and Technology,Dalian,China,116026"],"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Information Science and Technology,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["Dalian University of Technology,Intelligent Robotics Laboratory, School of Control Science and Engineering,Dalian,China,116024","Intelligent Robotics Laboratory, School of Artificial Intelligence, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Dalian University of Technology,Intelligent Robotics Laboratory, School of Control Science and Engineering,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Intelligent Robotics Laboratory, School of Artificial Intelligence, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100751794"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.22998272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"663","last_page":"668"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.998199999332428,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.732516884803772},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6936140060424805},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6904840469360352},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6338882446289062},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5600982904434204},{"id":"https://openalex.org/keywords/ground-plane","display_name":"Ground plane","score":0.5336730480194092},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5334904789924622},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5176644921302795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5059594511985779},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4910578727722168},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4462929666042328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42886725068092346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37496769428253174},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24158534407615662},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15977531671524048},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07374924421310425}],"concepts":[{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.732516884803772},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6936140060424805},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6904840469360352},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6338882446289062},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5600982904434204},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.5336730480194092},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5334904789924622},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5176644921302795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5059594511985779},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4910578727722168},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4462929666042328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42886725068092346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37496769428253174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24158534407615662},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15977531671524048},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07374924421310425},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739395","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2950854291","https://openalex.org/W4200375115","https://openalex.org/W2671541921","https://openalex.org/W2140766902","https://openalex.org/W1968077635","https://openalex.org/W2390479142","https://openalex.org/W2170214869","https://openalex.org/W2095860618","https://openalex.org/W4313168669","https://openalex.org/W2082933348"],"abstract_inverted_index":{"In":[0],"air-ground":[1],"cooperation,":[2],"unmanned":[3],"aerial":[4,20],"vehicles":[5],"(UAVs)":[6],"are":[7],"used":[8,50],"to":[9,25,99,101,143],"build":[10],"a":[11,36,92,108],"priori":[12],"map":[13,39,90,111,134],"of":[14,30,55,64,117,148,166],"the":[15,27,43,61,65,68,71,82,115,118,128,131,141,145,149,158,164,167],"ground":[16,31,56,66,102,122,142,150],"environment":[17,162],"from":[18,42,67,81,140],"an":[19],"perspective,":[21],"which":[22,46,96],"is":[23,78,97,112,135],"conducive":[24],"improve":[26],"navigation":[28],"ability":[29],"robots.":[32,58,103],"This":[33],"paper":[34],"proposes":[35],"2D":[37,129,132],"topology":[38,110],"building":[40],"method":[41],"air":[44,69],"view,":[45,70],"can":[47,124],"be":[48],"effectively":[49],"for":[51],"global":[52],"path":[53],"planning":[54],"mobile":[57],"To":[59,104],"realize":[60],"3D":[62,72],"reconstruction":[63],"Euclidean":[73],"Signed":[74,84],"Distance":[75,85],"Field":[76,86],"(ESDF)":[77],"constructed":[79,113],"incrementally":[80],"Truncated":[83],"(TSDF).":[87],"The":[88,154],"ESDF":[89,119],"occupies":[91],"large":[93],"storage":[94],"space,":[95],"inconvenient":[98],"transmit":[100],"solve":[105],"this":[106],"problem,":[107],"lighter":[109],"on":[114,157],"basis":[116],"map.":[120],"Since":[121],"robots":[123,151],"only":[125],"move":[126],"in":[127],"plane,":[130],"topological":[133,146],"generated":[136],"at":[137],"any":[138],"height":[139],"represent":[144],"structure":[147],"working":[152],"environment.":[153],"experimental":[155],"results":[156],"dataset":[159],"and":[160],"simulation":[161],"shows":[163],"effectiveness":[165],"proposed":[168],"method.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}