{"id":"https://openalex.org/W2147915785","doi":"https://doi.org/10.1109/robot.2004.1302485","title":"Local metrical and global topological maps in the hybrid spatial semantic hierarchy","display_name":"Local metrical and global topological maps in the hybrid spatial semantic hierarchy","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2147915785","doi":"https://doi.org/10.1109/robot.2004.1302485","mag":"2147915785"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5070191324","display_name":"Benjamin Kuipers","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B. Kuipers","raw_affiliation_strings":["Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054065284","display_name":"Joseph Modayil","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Modayil","raw_affiliation_strings":["Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038456644","display_name":"Patrick Beeson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P. Beeson","raw_affiliation_strings":["Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113975039","display_name":"M. MacMahon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. MacMahon","raw_affiliation_strings":["Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Lab, Department of Computer Sciences, University of Texas, Austin, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067611861","display_name":"Francesco Savelli","orcid":"https://orcid.org/0000-0002-8588-0865"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Savelli","raw_affiliation_strings":["ALCOR Group, Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ALCOR Group, Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8646,"has_fulltext":false,"cited_by_count":207,"citation_normalized_percentile":{"value":0.98387933,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4845","last_page":"4851 Vol.5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10757","display_name":"Geographic Information Systems Studies","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.6563582420349121},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6531174182891846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5869619846343994},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.5631787776947021},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5595117211341858},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5486819744110107},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5387685298919678},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4983043670654297},{"id":"https://openalex.org/keywords/topological-space","display_name":"Topological space","score":0.4446549713611603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.353580117225647},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32919859886169434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30288243293762207},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2618493437767029},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.21026796102523804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1513349711894989},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12296310067176819},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.12139543890953064}],"concepts":[{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.6563582420349121},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6531174182891846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5869619846343994},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.5631787776947021},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5595117211341858},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5486819744110107},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5387685298919678},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4983043670654297},{"id":"https://openalex.org/C81332173","wikidata":"https://www.wikidata.org/wiki/Q179899","display_name":"Topological space","level":2,"score":0.4446549713611603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.353580117225647},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32919859886169434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30288243293762207},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2618493437767029},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.21026796102523804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1513349711894989},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12296310067176819},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.12139543890953064},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robot.2004.1302485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.58.5523","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.58.5523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ftp://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-icra-04.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.60.9813","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.60.9813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.utexas.edu/~pbeeson/_papers_/Kuipers-etal-icra-04.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.61.340","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.61.340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.utexas.edu/~pbeeson/_papers_/Kuipers-icra-04.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.97.5314","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.97.5314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dis.uniroma1.it/~savelli/Kuipers-etal-icra-04.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W35362139","https://openalex.org/W74453616","https://openalex.org/W1516660548","https://openalex.org/W1518703880","https://openalex.org/W1592813209","https://openalex.org/W1854144742","https://openalex.org/W1902826085","https://openalex.org/W1978289112","https://openalex.org/W2030021468","https://openalex.org/W2050781898","https://openalex.org/W2077550329","https://openalex.org/W2087532070","https://openalex.org/W2101914010","https://openalex.org/W2103393159","https://openalex.org/W2107360660","https://openalex.org/W2108807938","https://openalex.org/W2132631693","https://openalex.org/W2133048394","https://openalex.org/W2142362566","https://openalex.org/W2149041888","https://openalex.org/W2159559433","https://openalex.org/W2161808137","https://openalex.org/W2171494828","https://openalex.org/W2228018563","https://openalex.org/W4285719527","https://openalex.org/W6601388837","https://openalex.org/W6603094494","https://openalex.org/W6630924310","https://openalex.org/W6631013691","https://openalex.org/W6635545125","https://openalex.org/W6638783030","https://openalex.org/W6639570128","https://openalex.org/W6675376843","https://openalex.org/W6675456536","https://openalex.org/W6675840321","https://openalex.org/W6690809358"],"related_works":["https://openalex.org/W4388904787","https://openalex.org/W1994199712","https://openalex.org/W4376312333","https://openalex.org/W3207305163","https://openalex.org/W4312359951","https://openalex.org/W2768317343","https://openalex.org/W2885114424","https://openalex.org/W2033554277","https://openalex.org/W1501815678","https://openalex.org/W2808517719"],"abstract_inverted_index":{"Topological":[0],"and":[1,25,75],"metrical":[2],"methods":[3,31,50],"for":[4],"representing":[5],"spatial":[6,18],"knowledge":[7],"have":[8],"complementary":[9],"strengths.":[10],"We":[11,60,113],"present":[12],"a":[13,63,71,79,87,118],"hybrid":[14],"extension":[15],"to":[16,34,53,69,78,108],"the":[17,42,46,55,110,115],"semantic":[19],"hierarchy":[20],"that":[21,93],"combines":[22],"their":[23,27],"strengths":[24],"avoids":[26],"weaknesses.":[28],"Metrical":[29],"SLAM":[30],"are":[32,51,94],"used":[33,52],"build":[35],"local":[36,64,72],"maps":[37,102],"of":[38,45,57,89,101],"small-scale":[39],"space":[40],"within":[41],"sensory":[43],"horizon":[44],"agent,":[47],"while":[48],"topological":[49,80,90],"represent":[54],"structure":[56],"large-scale":[58,124],"space.":[59],"describe":[61],"how":[62],"perceptual":[65],"map":[66,83,91],"is":[67,76,103],"analyzed":[68],"identify":[70],"topology":[73],"description":[74],"abstracted":[77],"place.":[81],"The":[82,99],"building":[84],"method":[85,116],"creates":[86],"set":[88,100],"hypotheses":[92],"consistent":[95],"with":[96,121],"travel":[97],"experience.":[98],"guaranteed":[104],"under":[105],"reasonable":[106],"assumptions":[107],"include":[109],"correct":[111],"map.":[112],"demonstrate":[114],"on":[117],"real":[119],"environment":[120],"multiple":[122],"nested":[123],"loops.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":22}],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2025-10-10T00:00:00"}