{"id":"https://openalex.org/W2065602781","doi":"https://doi.org/10.1163/016918610x512604","title":"Concurrent Map Building and Behavior Learning for Navigation in Unknown Environments","display_name":"Concurrent Map Building and Behavior Learning for Navigation in Unknown Environments","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2065602781","doi":"https://doi.org/10.1163/016918610x512604","mag":"2065602781"},"language":"en","primary_location":{"id":"doi:10.1163/016918610x512604","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x512604","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-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/A5009344490","display_name":"K. M. Chow","orcid":null},"institutions":[{"id":"https://openalex.org/I2800531931","display_name":"Hong Kong College of Technology","ror":"https://ror.org/014w0p014","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800531931"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"K. M. Chow","raw_affiliation_strings":["a    College of Life Sciences & Technology, HKU SPACE, Hong Kong","College of Life Sciences & Technology, HKU SPACE, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    College of Life Sciences & Technology, HKU SPACE, Hong Kong","institution_ids":["https://openalex.org/I2800531931","https://openalex.org/I889458895"]},{"raw_affiliation_string":"College of Life Sciences & Technology, HKU SPACE, Hong Kong","institution_ids":["https://openalex.org/I2800531931","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087944994","display_name":"A.B. Rad","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. B. Rad","raw_affiliation_strings":["b    School of Engineering Science, Simon Fraser University, 250-13450, 102 Avenue, Surrey, BC V3T 0A3, Canada","b School of Engineering Science, Simon Fraser University, 250-13450, 102 Avenue, Surrey, BC V3T 0A3, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    School of Engineering Science, Simon Fraser University, 250-13450, 102 Avenue, Surrey, BC V3T 0A3, Canada","institution_ids":["https://openalex.org/I18014758"]},{"raw_affiliation_string":"b School of Engineering Science, Simon Fraser University, 250-13450, 102 Avenue, Surrey, BC V3T 0A3, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063996308","display_name":"Y.L. Ip","orcid":null},"institutions":[{"id":"https://openalex.org/I4210088797","display_name":"Amonics (China)","ror":"https://ror.org/00251mh42","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210088797"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. L. Ip","raw_affiliation_strings":["c    Amonics Ltd., Unit 1803-04, Perfect Industrial Building, San Po Kong, Kowloon, Hong Kong","c Amonics Ltd., Unit 1803-04, Perfect Industrial Building, San Po Kong, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Amonics Ltd., Unit 1803-04, Perfect Industrial Building, San Po Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I4210088797"]},{"raw_affiliation_string":"c Amonics Ltd., Unit 1803-04, Perfect Industrial Building, San Po Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I4210088797"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3229,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60889734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"24","issue":"11","first_page":"1577","last_page":"1593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.628869354724884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6145986318588257},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5804723501205444},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.5486470460891724},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5262776017189026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5185173749923706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4988739490509033},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.4986913204193115},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4748019278049469},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.43378517031669617},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40226003527641296},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3780320882797241},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3637503981590271},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2041229009628296}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.628869354724884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6145986318588257},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5804723501205444},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.5486470460891724},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5262776017189026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5185173749923706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4988739490509033},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.4986913204193115},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4748019278049469},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.43378517031669617},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40226003527641296},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3780320882797241},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3637503981590271},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2041229009628296},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918610x512604","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x512604","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W62296462","https://openalex.org/W1488766761","https://openalex.org/W1523261584","https://openalex.org/W1644054796","https://openalex.org/W1715348731","https://openalex.org/W1726844701","https://openalex.org/W1967281432","https://openalex.org/W2005780170","https://openalex.org/W2035808435","https://openalex.org/W2048627242","https://openalex.org/W2050683917","https://openalex.org/W2059039791","https://openalex.org/W2078618573","https://openalex.org/W2097856935","https://openalex.org/W2099076102","https://openalex.org/W2117757415","https://openalex.org/W2121235580","https://openalex.org/W2126357802","https://openalex.org/W2143107138","https://openalex.org/W2153766311","https://openalex.org/W2158057652","https://openalex.org/W2158347682","https://openalex.org/W2168405985","https://openalex.org/W2169304217","https://openalex.org/W2562437742","https://openalex.org/W4237451992"],"related_works":["https://openalex.org/W2077648827","https://openalex.org/W2385103705","https://openalex.org/W2145228184","https://openalex.org/W2130588278","https://openalex.org/W2551663027","https://openalex.org/W2886675269","https://openalex.org/W1605073378","https://openalex.org/W2140110270","https://openalex.org/W2667780154","https://openalex.org/W3005878929"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"report":[4],"a":[5,19],"robust":[6],"and":[7,93,100],"low-cost":[8],"navigation":[9,107],"algorithm":[10,23,47,90],"for":[11,64],"an":[12,73,96,109],"unknown":[13],"environment":[14],"based":[15],"on":[16,30,95],"integration":[17],"of":[18],"grid-based":[20,75],"map":[21,76],"building":[22],"with":[24,41,83],"behavior":[25,65,85],"learning.":[26,66],"The":[27,45,67,88],"study":[28],"focuses":[29],"mobile":[31,98],"robots":[32],"that":[33,79],"utilize":[34],"ultrasonic":[35],"sensors":[36],"as":[37],"their":[38],"prime":[39],"interface":[40],"the":[42,55,58,84],"outside":[43],"world.":[44],"proposed":[46,89],"takes":[48],"into":[49],"account":[50],"environmental":[51,68],"information":[52,69],"to":[53],"augment":[54],"readings":[56],"from":[57],"low":[59],"angular":[60],"accuracy":[61],"sonar":[62],"measurements":[63],"is":[70,80,91,103],"obtained":[71],"by":[72],"online":[74,106],"learning":[77,86],"design":[78],"concurrently":[81],"operating":[82],"algorithm.":[87],"implemented":[92],"tested":[94],"in-house-built":[97],"robot,":[99],"its":[101],"performance":[102],"verified":[104],"through":[105],"in":[108],"indoor":[110],"environment.":[111]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}