{"id":"https://openalex.org/W2135158474","doi":"https://doi.org/10.1109/robot.2009.5152564","title":"Finding good cycle constraints for large scale multi-robot SLAM","display_name":"Finding good cycle constraints for large scale multi-robot SLAM","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2135158474","doi":"https://doi.org/10.1109/robot.2009.5152564","mag":"2135158474"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5101973740","display_name":"Carlos A. Estrada","orcid":"https://orcid.org/0000-0002-2214-5708"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"C. Estrada","raw_affiliation_strings":["Department Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Institute de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Inst. de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, c/Mar\u00eda de Luna 1, 50018, Spain"],"affiliations":[{"raw_affiliation_string":"Department Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Institute de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Inst. de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, c/Mar\u00eda de Luna 1, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057914288","display_name":"Jos\u00e9 Neira","orcid":"https://orcid.org/0000-0003-0668-977X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Neira","raw_affiliation_strings":["Department Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Institute de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Inst. de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, c/Mar\u00eda de Luna 1, 50018, Spain"],"affiliations":[{"raw_affiliation_string":"Department Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Institute de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Inst. de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, c/Mar\u00eda de Luna 1, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030733231","display_name":"Juan D. Tard\u00f3s","orcid":"https://orcid.org/0000-0002-4518-5876"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.D. Tardos","raw_affiliation_strings":["Department Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Institute de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Inst. de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, c/Mar\u00eda de Luna 1, 50018, Spain"],"affiliations":[{"raw_affiliation_string":"Department Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Institute de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Dept. Inform\u00e1tica e Ingenier\u00eda de Sistemas and the Inst. de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, c/Mar\u00eda de Luna 1, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101973740"],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":1.6992,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86635333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":null,"first_page":"395","last_page":"402"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9884999990463257,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/cycle-basis","display_name":"Cycle basis","score":0.7173770666122437},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6641936898231506},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6376111507415771},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6067740321159363},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5732918977737427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5691086649894714},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5591593384742737},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5561385154724121},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5318115949630737},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5272654294967651},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.45428159832954407},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.38749003410339355},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3631432354450226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3568917512893677},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24041461944580078},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22614747285842896},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17760810256004333},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09884783625602722},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08122986555099487}],"concepts":[{"id":"https://openalex.org/C26752605","wikidata":"https://www.wikidata.org/wiki/Q16766188","display_name":"Cycle basis","level":5,"score":0.7173770666122437},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6641936898231506},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6376111507415771},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6067740321159363},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5732918977737427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5691086649894714},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5591593384742737},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5561385154724121},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5318115949630737},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5272654294967651},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.45428159832954407},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38749003410339355},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3631432354450226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3568917512893677},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24041461944580078},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22614747285842896},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17760810256004333},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09884783625602722},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08122986555099487},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C149530733","wikidata":"https://www.wikidata.org/wiki/Q5597091","display_name":"Graph power","level":4,"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/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W142685375","https://openalex.org/W1490092700","https://openalex.org/W1763401657","https://openalex.org/W1966551934","https://openalex.org/W1966878439","https://openalex.org/W2011754354","https://openalex.org/W2015997601","https://openalex.org/W2024908906","https://openalex.org/W2052997102","https://openalex.org/W2095422835","https://openalex.org/W2099511119","https://openalex.org/W2101259089","https://openalex.org/W2104534750","https://openalex.org/W2105018789","https://openalex.org/W2107905629","https://openalex.org/W2109448614","https://openalex.org/W2115696586","https://openalex.org/W2120353515","https://openalex.org/W2121272499","https://openalex.org/W2123940811","https://openalex.org/W2125543527","https://openalex.org/W2132070397","https://openalex.org/W2136797152","https://openalex.org/W2151005018","https://openalex.org/W2155537009","https://openalex.org/W2156561799","https://openalex.org/W2156803748","https://openalex.org/W2159477781","https://openalex.org/W2168637639","https://openalex.org/W2169053332","https://openalex.org/W3143919370","https://openalex.org/W4237168462","https://openalex.org/W6605876125","https://openalex.org/W6635204323"],"related_works":["https://openalex.org/W2379763979","https://openalex.org/W2944187815","https://openalex.org/W91800244","https://openalex.org/W2012910072","https://openalex.org/W2073514935","https://openalex.org/W2112986586","https://openalex.org/W2163016745","https://openalex.org/W2074467278","https://openalex.org/W48401697","https://openalex.org/W2167310049"],"abstract_inverted_index":{"In":[0],"this":[1,46],"paper":[2],"we":[3,20],"describe":[4],"an":[5],"algorithm":[6,27,94],"to":[7,67,95],"compute":[8],"cycle":[9,32,40,58],"constraints":[10,35,59],"that":[11,55,71],"can":[12,41],"be":[13,42],"used":[14],"in":[15,23,45],"many":[16],"graph-based":[17],"SLAM":[18],"algorithms;":[19],"exemplify":[21],"it":[22,73],"hierarchical":[24],"SLAM.":[25],"Our":[26],"incrementally":[28],"computes":[29],"the":[30,56,86,96,105],"minimum":[31,52],"basis":[33,47],"of":[34,51],"from":[36],"which":[37],"any":[38],"other":[39],"derived.":[43],"Cycles":[44],"are":[48],"local":[49,83],"and":[50,77,85],"length,":[53],"so":[54],"associated":[57],"have":[60,91,100],"less":[61],"linearization":[62],"problems.":[63],"This":[64],"also":[65],"permits":[66],"construct":[68],"regional":[69],"maps,":[70],"is,":[72],"makes":[74],"possible":[75],"efficient":[76],"accurate":[78],"intermediate":[79],"mapping":[80],"levels":[81],"between":[82],"maps":[84],"whole":[87],"global":[88],"map.":[89],"We":[90,99],"extended":[92],"our":[93,102],"multi-robot":[97],"case.":[98],"tested":[101],"methodology":[103],"using":[104],"Victoria":[106],"Park":[107],"data":[108],"set":[109],"with":[110],"satisfactory":[111],"results.":[112]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
