{"id":"https://openalex.org/W2132622790","doi":"https://doi.org/10.1109/robot.2008.4543484","title":"Active SLAM in structured environments","display_name":"Active SLAM in structured environments","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2132622790","doi":"https://doi.org/10.1109/robot.2008.4543484","mag":"2132622790"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://opus.lib.uts.edu.au/bitstream/10453/11075/1/2008002085.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026229798","display_name":"Cindy Leung","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Cindy Leung","raw_affiliation_strings":["Faculty of Engineering, University of Technology, Sydney, Australia","Fac. of Eng., Univ. of Technol., Sydney, NSW"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Technol., Sydney, NSW","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Faculty of Engineering, University of Technology, Sydney, Australia","Fac. of Eng., Univ. of Technol., Sydney, NSW"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Technol., Sydney, NSW","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gamini Dissanayake","raw_affiliation_strings":["Faculty of Engineering, University of Technology, Sydney, Australia","Fac. of Eng., Univ. of Technol., Sydney, NSW"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Technol., Sydney, NSW","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026229798"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":38.1211,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.99305007,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1898","last_page":"1903"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8076829314231873},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7863665819168091},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6804590225219727},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6723005771636963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6340276598930359},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6289194226264954},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5964918732643127},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5849589705467224},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5171589255332947},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4530014395713806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4353589713573456},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.4329517185688019},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3992035388946533},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3770920932292938},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3511415719985962},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3157040476799011},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1351352035999298}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8076829314231873},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7863665819168091},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6804590225219727},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6723005771636963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6340276598930359},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6289194226264954},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5964918732643127},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5849589705467224},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5171589255332947},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4530014395713806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4353589713573456},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.4329517185688019},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3992035388946533},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3770920932292938},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3511415719985962},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3157040476799011},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1351352035999298},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/11075","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/11075","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/11075/1/2008002085.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/11075","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/11075","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/11075/1/2008002085.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2132622790.pdf"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W168703522","https://openalex.org/W178120358","https://openalex.org/W601851135","https://openalex.org/W2064169939","https://openalex.org/W2089437550","https://openalex.org/W2102048996","https://openalex.org/W2122489470","https://openalex.org/W2142423373","https://openalex.org/W2143864104","https://openalex.org/W2143964548","https://openalex.org/W2148916113","https://openalex.org/W2154233136","https://openalex.org/W2172011507","https://openalex.org/W6606780625","https://openalex.org/W6618428899"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W1541079531","https://openalex.org/W2122489470","https://openalex.org/W2980755614","https://openalex.org/W2034836143","https://openalex.org/W2086059115","https://openalex.org/W1981991040","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W2583542422"],"abstract_inverted_index":{"This":[0,75],"paper":[1],"considers":[2],"the":[3,37,50,53],"trajectory":[4,45],"planning":[5,46,60,76],"problem":[6],"for":[7],"line-feature":[8],"based":[9],"SLAM":[10],"in":[11,80,83],"structured":[12],"indoor":[13],"environments.":[14],"The":[15,42],"robot":[16],"poses":[17],"and":[18,25,55,82],"line":[19],"features":[20],"are":[21],"estimated":[22],"using":[23,63],"Smooth":[24],"Mapping":[26],"(SAM)":[27],"which":[28],"is":[29,47,61,77],"found":[30],"to":[31,48,56],"provide":[32],"more":[33],"consistent":[34],"estimates":[35,54],"than":[36],"Extended":[38],"Kalman":[39],"Filter":[40],"(EKF).":[41],"objective":[43],"of":[44,52],"minimise":[49],"uncertainty":[51],"maximise":[57],"coverage.":[58],"Trajectory":[59],"performed":[62],"Model":[64],"Predictive":[65],"Control":[66],"(MPC)":[67],"with":[68,87],"an":[69],"attractor":[70],"incorporating":[71],"long":[72],"term":[73],"goals.":[74],"demonstrated":[78],"both":[79],"simulation":[81],"a":[84,88],"real-time":[85],"experiment":[86],"Pioneer2DX":[89],"robot.":[90]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
