{"id":"https://openalex.org/W3167400167","doi":"https://doi.org/10.1109/syscon48628.2021.9447073","title":"EKF-SLAM with Autonomous Exploration using a Low Cost Robot","display_name":"EKF-SLAM with Autonomous Exploration using a Low Cost Robot","publication_year":2021,"publication_date":"2021-04-15","ids":{"openalex":"https://openalex.org/W3167400167","doi":"https://doi.org/10.1109/syscon48628.2021.9447073","mag":"3167400167"},"language":"en","primary_location":{"id":"doi:10.1109/syscon48628.2021.9447073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon48628.2021.9447073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Systems Conference (SysCon)","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/A5054696790","display_name":"Larissa de Souza Pinto","orcid":null},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Larissa de Souza Pinto","raw_affiliation_strings":["Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060511831","display_name":"Luiz Eug\u00eanio Santos Ara\u00fajo Filho","orcid":"https://orcid.org/0000-0001-6406-0094"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Eug\u00eanio Santos Ara\u00fajo Filho","raw_affiliation_strings":["Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073351718","display_name":"Leonardo Mariga","orcid":null},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Leonardo Mariga","raw_affiliation_strings":["Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002489731","display_name":"Cairo L\u00facio Nascimento","orcid":"https://orcid.org/0000-0002-2418-0320"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Cairo L\u00facio Nascimento J\u00fanior","raw_affiliation_strings":["Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079176030","display_name":"Wagner Chiepa Cunha","orcid":"https://orcid.org/0009-0003-3214-8659"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Wagner Chiepa Cunha","raw_affiliation_strings":["Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnolόgico de Aeronáutica,Division of Electronic Engineering,São José dos Campos,SP,Brazil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Division of Electronic Engineering, Instituto Tecnol\u03ccgico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brazil","institution_ids":["https://openalex.org/I107428990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5054696790"],"corresponding_institution_ids":["https://openalex.org/I107428990"],"apc_list":null,"apc_paid":null,"fwci":3.1059,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93821381,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9995999932289124,"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":0.9966999888420105,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7711372375488281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6793802380561829},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6742241382598877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5428327322006226},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5199469327926636},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5119398832321167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.508305013179779},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4966195225715637},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.46065330505371094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43368515372276306},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4123344123363495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3203396201133728}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7711372375488281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6793802380561829},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6742241382598877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5428327322006226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5199469327926636},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5119398832321167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.508305013179779},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4966195225715637},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.46065330505371094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43368515372276306},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4123344123363495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3203396201133728}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon48628.2021.9447073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon48628.2021.9447073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1252691739","https://openalex.org/W1533162639","https://openalex.org/W1673310716","https://openalex.org/W2024908906","https://openalex.org/W2085261163","https://openalex.org/W2096636360","https://openalex.org/W2102370830","https://openalex.org/W2107667896","https://openalex.org/W2127578024","https://openalex.org/W2148228392","https://openalex.org/W2173782939","https://openalex.org/W2485992890","https://openalex.org/W2806193267","https://openalex.org/W2879404536","https://openalex.org/W3104753760","https://openalex.org/W4236470048","https://openalex.org/W6628010092","https://openalex.org/W6637131181","https://openalex.org/W6752108116"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481","https://openalex.org/W2583542422"],"abstract_inverted_index":{"Ahsiriri-Autonomous":[0],"exploration":[1,157],"and":[2,6,23,54,67,76,89,101,129,134,158,162,181,204],"SLAM":[3],"(Simultaneous":[4],"Localization":[5],"Mapping)":[7],"are":[8,70,166],"two":[9],"of":[10,65,196],"the":[11,94,105,138,155,185,189,200,208],"main":[12],"problems":[13],"in":[14],"robotics":[15],"due":[16],"to":[17,49,62,85,98,136],"their":[18],"relevance":[19],"for":[20,104,168,199,207],"many":[21],"military":[22],"commercial":[24],"real":[25,163,186],"world":[26,164,187],"applications.":[27],"This":[28,58,141],"article":[29],"proposes":[30],"a":[31,35,114,123,126,144,149],"solution,":[32],"tested":[33],"using":[34,93],"low":[36],"cost":[37],"robot":[38,106,112],"(less":[39],"than":[40],"US$500),":[41],"based":[42],"on":[43],"EK":[44],"-SLAM":[45],"(Extended":[46],"Kalman":[47],"Filter)":[48],"autonomously":[50],"explore":[51],"an":[52,169,193],"static":[53],"unknown":[55],"21)":[56],"environment.":[57],"environment":[59,172],"Ls":[60],"assumed":[61],"be":[63],"composed":[64],"walls":[66],"cylinders":[68,180],"which":[69],"modeled":[71],"respectively":[72],"as":[73],"line":[74],"segments":[75],"circles.":[77],"The":[78],"proposed":[79,139,190],"solution":[80,191],"applies":[81],"border":[82],"detection":[83],"techniques":[84],"occupancy":[86],"grid":[87],"maps":[88],"performs":[90],"path":[91],"planning":[92],"A*":[95],"search":[96],"algorithm":[97],"generate":[99],"safe":[100],"feasible":[102],"paths":[103],"autonomous":[107,156],"exploration.":[108],"A":[109],"differential":[110],"drive":[111],"with":[113,148,173],"Raspberry":[115],"Pi":[116],"3":[117],"Model":[118],"B+":[119],"single":[120],"board":[121],"computer,":[122],"laser":[124],"scanner,":[125],"electronic":[127],"compass":[128],"wheel":[130],"encoders":[131],"was":[132],"designed":[133],"built":[135],"test":[137],"solution.":[140],"robot,":[142],"via":[143],"Wi-Fl":[145],"network,":[146],"communicates":[147],"remote":[150],"personal":[151],"computer":[152],"that":[153],"runs":[154],"EKF-SLAM":[159],"algorithms.":[160],"Simulation":[161],"experiments":[165],"shown":[167],"indoor":[170],"closed":[171],"approximately":[174],"41":[175],"square":[176],"meters,":[177],"6":[178],"thin":[179],"10":[182],"walls.":[183],"In":[184],"experiment":[188],"achieved":[192],"average":[194],"error":[195],"8.11":[197],"cm":[198,206],"walls'":[201],"characteristic":[202],"points":[203],"4.33":[205],"cylinders'":[209],"centroids.":[210]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}