{"id":"https://openalex.org/W1999286188","doi":"https://doi.org/10.1109/ssrr.2013.6719348","title":"An evaluation of 2D SLAM techniques available in Robot Operating System","display_name":"An evaluation of 2D SLAM techniques available in Robot Operating System","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W1999286188","doi":"https://doi.org/10.1109/ssrr.2013.6719348","mag":"1999286188"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2013.6719348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2013.6719348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/An_evaluation_of_2D_SLAM_techniques_available_in_Robot_Operating_System/25166750","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081445523","display_name":"Jo\u00e3o Santos","orcid":"https://orcid.org/0000-0002-4797-3542"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Joao Machado Santos","raw_affiliation_strings":["Institute of Systems and Robotics, Univ. of Coimbra, Coimbra, Portugal","Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, Univ. of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046722511","display_name":"David Portugal","orcid":"https://orcid.org/0000-0002-1447-0439"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"David Portugal","raw_affiliation_strings":["Institute of Systems and Robotics, Univ. of Coimbra, Coimbra, Portugal","Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, Univ. of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085631032","display_name":"Rui P. Rocha","orcid":"https://orcid.org/0000-0002-4612-3554"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rui P. Rocha","raw_affiliation_strings":["Institute of Systems and Robotics, Univ. of Coimbra, Coimbra, Portugal","Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, Univ. of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081445523"],"corresponding_institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"],"apc_list":null,"apc_paid":null,"fwci":191.5403,"has_fulltext":false,"cited_by_count":253,"citation_normalized_percentile":{"value":0.99941965,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.996999979019165,"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":0.9961000084877014,"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/metric","display_name":"Metric (unit)","score":0.7801817059516907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6986337304115295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6896494626998901},{"id":"https://openalex.org/keywords/strengths-and-weaknesses","display_name":"Strengths and weaknesses","score":0.6781821250915527},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6657227873802185},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5452370047569275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4885755479335785},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4043939709663391},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3344951868057251},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17250880599021912},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1117246150970459}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7801817059516907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6986337304115295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6896494626998901},{"id":"https://openalex.org/C63882131","wikidata":"https://www.wikidata.org/wiki/Q17122954","display_name":"Strengths and weaknesses","level":2,"score":0.6781821250915527},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6657227873802185},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5452370047569275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4885755479335785},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4043939709663391},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3344951868057251},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17250880599021912},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1117246150970459},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ssrr.2013.6719348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2013.6719348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:14672","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:figshare.com:article/25166750","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/An_evaluation_of_2D_SLAM_techniques_available_in_Robot_Operating_System/25166750","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/25166750","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/An_evaluation_of_2D_SLAM_techniques_available_in_Robot_Operating_System/25166750","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W1967740178","https://openalex.org/W1980156815","https://openalex.org/W2005389775","https://openalex.org/W2011754354","https://openalex.org/W2018801646","https://openalex.org/W2024908906","https://openalex.org/W2034700821","https://openalex.org/W2049479307","https://openalex.org/W2130422193","https://openalex.org/W2148820580","https://openalex.org/W2153054365","https://openalex.org/W2160584648","https://openalex.org/W2296754596","https://openalex.org/W2336416123","https://openalex.org/W2535722635","https://openalex.org/W2901136733","https://openalex.org/W6653542524","https://openalex.org/W6682324061","https://openalex.org/W6697688974","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4295769391","https://openalex.org/W2972220648","https://openalex.org/W2332667808","https://openalex.org/W1997921863","https://openalex.org/W3112960490","https://openalex.org/W93605524","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,38],"this":[1],"work,":[2],"a":[3,60],"study":[4],"of":[5,46,76,90,107],"several":[6],"laser-based":[7],"2D":[8,32],"Simultaneous":[9],"Localization":[10],"and":[11,29,34,59,88],"Mapping":[12],"(SLAM)":[13],"techniques":[14],"available":[15],"in":[16,31],"Robot":[17],"Operating":[18],"System":[19],"(ROS)":[20],"is":[21,79,95],"conducted.":[22],"All":[23],"the":[24,44,47,50,56,66,73,86,105,108],"approaches":[25],"have":[26],"been":[27],"evaluated":[28],"compared":[30],"simulations":[33],"real":[35],"world":[36],"experiments.":[37],"order":[39],"to":[40,97,101,104],"draw":[41],"conclusions":[42],"on":[43,65,85],"performance":[45,62],"tested":[48],"techniques,":[49],"experimental":[51],"results":[52],"were":[53],"collected":[54],"under":[55],"same":[57],"conditions":[58],"generalized":[61],"metric":[63],"based":[64],"k-nearest":[67],"neighbors":[68],"concept":[69],"was":[70],"applied.":[71],"Moreover,":[72],"CPU":[74],"load":[75],"each":[77,91],"technique":[78],"examined.":[80],"This":[81],"work":[82],"provides":[83],"insight":[84],"weaknesses":[87],"strengths":[89],"solution.":[92],"Such":[93],"analysis":[94],"fundamental":[96],"decide":[98],"which":[99],"solution":[100],"adopt":[102],"according":[103],"properties":[106],"intended":[109],"final":[110],"application.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":37},{"year":2020,"cited_by_count":33},{"year":2019,"cited_by_count":32},{"year":2018,"cited_by_count":30},{"year":2017,"cited_by_count":24},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}
