{"id":"https://openalex.org/W4393869252","doi":"https://doi.org/10.1117/12.3023459","title":"Maintaining topological maps for mobile robots","display_name":"Maintaining topological maps for mobile robots","publication_year":2024,"publication_date":"2024-04-03","ids":{"openalex":"https://openalex.org/W4393869252","doi":"https://doi.org/10.1117/12.3023459"},"language":"en","primary_location":{"id":"doi:10.1117/12.3023459","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1117/12.3023459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sixteenth International Conference on Machine Vision (ICMV 2023)","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/A5039509838","display_name":"Kirill Muravyev","orcid":"https://orcid.org/0000-0001-5897-0702"},"institutions":[{"id":"https://openalex.org/I4210143801","display_name":"Federal State Budgetary Institution \"Federal Center For Cardiovascular Surgery\" Ministry of Health of The Russian Federation","ror":"https://ror.org/04hna5g63","country_code":"RU","type":"healthcare","lineage":["https://openalex.org/I4210143801"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Kirill Muravyev","raw_affiliation_strings":["Federal Research Center \u201dComputer Science and Control\u201d (Russian Federation)","Federal Research Center \"Computer Science and Control\" (Russian Federation)"],"affiliations":[{"raw_affiliation_string":"Federal Research Center \u201dComputer Science and Control\u201d (Russian Federation)","institution_ids":["https://openalex.org/I4210143801"]},{"raw_affiliation_string":"Federal Research Center \"Computer Science and Control\" (Russian Federation)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056981356","display_name":"Konstantin Yakovlev","orcid":"https://orcid.org/0000-0002-4377-321X"},"institutions":[{"id":"https://openalex.org/I4210143801","display_name":"Federal State Budgetary Institution \"Federal Center For Cardiovascular Surgery\" Ministry of Health of The Russian Federation","ror":"https://ror.org/04hna5g63","country_code":"RU","type":"healthcare","lineage":["https://openalex.org/I4210143801"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Konstantin Yakovlev","raw_affiliation_strings":["Federal Research Center \u201dComputer Science and Control\u201d (Russian Federation)","Federal Research Center \"Computer Science and Control\" (Russian Federation)"],"affiliations":[{"raw_affiliation_string":"Federal Research Center \u201dComputer Science and Control\u201d (Russian Federation)","institution_ids":["https://openalex.org/I4210143801"]},{"raw_affiliation_string":"Federal Research Center \"Computer Science and Control\" (Russian Federation)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5039509838"],"corresponding_institution_ids":["https://openalex.org/I4210143801"],"apc_list":null,"apc_paid":null,"fwci":0.7561,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.76597138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5","issue":null,"first_page":"37","last_page":"37"},"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":0.9972000122070312,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9876999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7523735761642456},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6967673301696777},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6921544671058655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6072806715965271},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.6010789275169373},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5183737874031067},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.46864694356918335},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4474484920501709},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.43643718957901},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3930571377277374},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3848922848701477},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3796258568763733},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.33218914270401},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32324451208114624},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2937968969345093},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11548960208892822},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11082860827445984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0876685082912445}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7523735761642456},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6967673301696777},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6921544671058655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6072806715965271},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6010789275169373},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5183737874031067},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.46864694356918335},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4474484920501709},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.43643718957901},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3930571377277374},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3848922848701477},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3796258568763733},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.33218914270401},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32324451208114624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2937968969345093},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11548960208892822},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11082860827445984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0876685082912445},{"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/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1117/12.3023459","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1117/12.3023459","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sixteenth International Conference on Machine Vision (ICMV 2023)","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":32,"referenced_works":["https://openalex.org/W1989484209","https://openalex.org/W2133844819","https://openalex.org/W2515381329","https://openalex.org/W2779443493","https://openalex.org/W2795158114","https://openalex.org/W2963261125","https://openalex.org/W2963872397","https://openalex.org/W2964339842","https://openalex.org/W3007611725","https://openalex.org/W3090459043","https://openalex.org/W3094029947","https://openalex.org/W3151266447","https://openalex.org/W3176634028","https://openalex.org/W3199994333","https://openalex.org/W3206454137","https://openalex.org/W4236147647","https://openalex.org/W4283784078","https://openalex.org/W4286367218","https://openalex.org/W4312122355","https://openalex.org/W4312566202","https://openalex.org/W4360988600","https://openalex.org/W4394627367","https://openalex.org/W6743963275","https://openalex.org/W6755627675","https://openalex.org/W6761234640","https://openalex.org/W6765266423","https://openalex.org/W6778299498","https://openalex.org/W6797803395","https://openalex.org/W6801330621","https://openalex.org/W6843457338","https://openalex.org/W6847495821","https://openalex.org/W6851586091"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2950854291","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2152974205"],"abstract_inverted_index":{"Nowadays,":[0],"mobile":[1,24],"robots":[2],"solve":[3],"various":[4],"tasks":[5],"realted":[6],"to":[7,107,110],"navigation":[8],"in":[9,52,117,127],"an":[10],"unknown":[11],"or":[12,33],"changing":[13],"environment.":[14],"In":[15,75,131],"such":[16],"conditions,":[17],"mapping":[18],"the":[19,100,108,128,133,135],"environment":[20,120],"is":[21,150],"crucial":[22],"for":[23,42,48],"robot":[25],"navigation.":[26],"Conventionally,":[27],"maps":[28],"are":[29],"built":[30],"as":[31,58],"2D":[32],"3D":[34],"dense":[35],"metric":[36],"structures":[37],"which":[38],"require":[39],"much":[40,45],"memory":[41,73],"storage":[43],"and":[44,87,92,104,121],"computational":[46],"time":[47],"path":[49,69,125],"planning,":[50],"especially":[51],"large":[53],"environments.":[54],"Representing":[55],"a":[56,59,63,80,118],"map":[57,85],"topological":[60,84,101],"structure":[61],"(i.e.":[62],"graph":[64,102,109],"of":[65,82,124,147],"locations)":[66],"allows":[67],"fast":[68],"planning":[70,126],"with":[71,140],"low":[72],"consumption.":[74],"this":[76],"paper,":[77],"we":[78],"present":[79],"method":[81,98,116,149],"real-time":[83],"building":[86],"updating":[88],"from":[89],"odometry":[90],"measurements":[91],"local":[93],"point":[94],"clouds.":[95],"The":[96,144],"proposed":[97],"guarantees":[99],"connectivity":[103],"adds":[105],"shortcuts":[106],"optimize":[111],"paths.":[112],"We":[113],"tested":[114],"our":[115,148],"simulated":[119],"measured":[122],"efficiency":[123],"obtained":[129],"graphs.":[130],"all":[132],"tests,":[134],"SPL":[136],"value":[137],"exceeded":[138],"81%,":[139],"100%":[141],"success":[142],"rate.":[143],"source":[145],"code":[146],"available":[151],"at":[152],"https://github.com/KirillMouraviev/simple_toposlam_model.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}