{"id":"https://openalex.org/W2920701211","doi":"https://doi.org/10.1109/tencon.2018.8650236","title":"Lost Robot Self-Recovery via Exploration Using Hybrid Topological-Metric Maps","display_name":"Lost Robot Self-Recovery via Exploration Using Hybrid Topological-Metric Maps","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2920701211","doi":"https://doi.org/10.1109/tencon.2018.8650236","mag":"2920701211"},"language":"en","primary_location":{"id":"doi:10.1109/tencon.2018.8650236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon.2018.8650236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2018 - 2018 IEEE Region 10 Conference","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/A5101507566","display_name":"Miaolong Yuan","orcid":"https://orcid.org/0000-0001-8114-8143"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Miaolong Yuan","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057104857","display_name":"Wei\u2010Yun Yau","orcid":"https://orcid.org/0000-0001-5709-9169"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei-Yun Yau","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100700917","display_name":"Zhengguo Li","orcid":"https://orcid.org/0000-0002-4525-1204"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhengguo Li","raw_affiliation_strings":["Institute for Infocomm Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101507566"],"corresponding_institution_ids":["https://openalex.org/I3005327000"],"apc_list":null,"apc_paid":null,"fwci":0.4436,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.77649636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"0188","last_page":"0193"},"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":0.9997000098228455,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/robot","display_name":"Robot","score":0.7930848598480225},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.7614001035690308},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7093995213508606},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6829469799995422},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.6307544112205505},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.590129554271698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5871487855911255},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5641660094261169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.53143310546875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47464948892593384},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.41212183237075806},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20965799689292908},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20596152544021606},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.19575515389442444},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1619802713394165}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7930848598480225},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.7614001035690308},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7093995213508606},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6829469799995422},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6307544112205505},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.590129554271698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871487855911255},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5641660094261169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.53143310546875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47464948892593384},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.41212183237075806},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20965799689292908},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20596152544021606},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.19575515389442444},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1619802713394165},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tencon.2018.8650236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon.2018.8650236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2018 - 2018 IEEE Region 10 Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1495862233","https://openalex.org/W1502602479","https://openalex.org/W1588649053","https://openalex.org/W1599699181","https://openalex.org/W1612997784","https://openalex.org/W1935926926","https://openalex.org/W2000214310","https://openalex.org/W2000359213","https://openalex.org/W2003919215","https://openalex.org/W2026036879","https://openalex.org/W2034801091","https://openalex.org/W2043111236","https://openalex.org/W2073946099","https://openalex.org/W2112669647","https://openalex.org/W2117211893","https://openalex.org/W2117228865","https://openalex.org/W2128519721","https://openalex.org/W2130422193","https://openalex.org/W2131865378","https://openalex.org/W2132756332","https://openalex.org/W2144824356","https://openalex.org/W2149363785","https://openalex.org/W2157392310","https://openalex.org/W2213585984","https://openalex.org/W2284029970","https://openalex.org/W2336416123","https://openalex.org/W2409344386","https://openalex.org/W2414947275","https://openalex.org/W2461937780","https://openalex.org/W2502276222","https://openalex.org/W2529528107","https://openalex.org/W2549920495","https://openalex.org/W3103648783","https://openalex.org/W3103759471","https://openalex.org/W3124420883","https://openalex.org/W4233642774","https://openalex.org/W4300552264"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2562628082","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2157678966","https://openalex.org/W2769842592","https://openalex.org/W2922515218"],"abstract_inverted_index":{"A":[0],"robot":[1,27,48,92,127,151,162],"might":[2],"get":[3],"lost":[4,47,173],"due":[5],"to":[6,29,104,139],"abrupt":[7],"wheel":[8],"slippage,":[9],"unsteady":[10],"movements":[11],"on":[12,148],"uneven":[13],"floors,":[14],"collision":[15],"with":[16],"obstacles,":[17],"blocked":[18],"perception":[19],"sensors":[20],"or":[21,175],"kidnapping.":[22],"When":[23],"this":[24,43],"happens,":[25],"the":[26,79,91,111,115,119,126,132,178],"has":[28,37,54,145],"recover":[30,168],"by":[31,58],"itself.":[32],"This":[33],"is":[34,51,71,82,96,100,117,123],"necessary":[35],"but":[36],"not":[38],"been":[39,146],"satisfactorily":[40],"resolved.":[41],"In":[42],"paper,":[44],"a":[45,149,154,161],"generic":[46],"self-recovery":[49],"framework":[50],"proposed.":[52],"It":[53],"self-exploration":[55],"capability":[56],"assisted":[57],"an":[59],"efficient":[60],"place":[61,108,116],"recognition":[62,109],"module":[63],"using":[64,110,131],"hybrid":[65],"topological-metric":[66],"maps.":[67],"The":[68,142],"metric":[69,133],"map":[70,81],"used":[72,83],"for":[73,84],"path":[74],"planning":[75],"and":[76,102,125,137,166],"navigation":[77],"while":[78,106],"topological":[80,112],"re-localization":[85],"when":[86,170],"lost.":[87],"As":[88],"soon":[89],"as":[90],"detects":[93],"that":[94],"it":[95,171],"lost,":[97],"self":[98],"exploration":[99],"activated":[101],"starts":[103],"explore":[105],"performing":[107],"map.":[113,179],"Once":[114],"re-identified,":[118],"proximate":[120],"global":[121],"location":[122],"obtained":[124],"performs":[128],"fine":[129],"localization":[130],"map,":[134],"recovery":[135],"itself":[136,169],"continue":[138],"its":[140],"destination.":[141],"proposed":[143],"system":[144],"implemented":[147],"mobile":[150],"operating":[152],"in":[153],"typical":[155],"office":[156],"environment.":[157],"Experiments":[158],"conducted":[159],"show":[160],"can":[163],"be":[164],"efficiently":[165],"reliably":[167],"gets":[172],"within":[174],"outside":[176],"of":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}