{"id":"https://openalex.org/W2079987671","doi":"https://doi.org/10.1177/0278364909100586","title":"Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy","display_name":"Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy","publication_year":2009,"publication_date":"2009-05-19","ids":{"openalex":"https://openalex.org/W2079987671","doi":"https://doi.org/10.1177/0278364909100586","mag":"2079987671"},"language":"en","primary_location":{"id":"doi:10.1177/0278364909100586","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364909100586","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5038456644","display_name":"Patrick Beeson","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Patrick Beeson","raw_affiliation_strings":["Department of Computer Sciences University of Texas at Austin 1 University Station C0500 Taylor Hall 2124 Austin, TX, USA 78712-0233,","Department of Computer Sciences University of Texasat Austin 1 University Station C0500 Taylor Hall 2124 Austin, TX, USA 78712-0233,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences University of Texas at Austin 1 University Station C0500 Taylor Hall 2124 Austin, TX, USA 78712-0233,","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Sciences University of Texasat Austin 1 University Station C0500 Taylor Hall 2124 Austin, TX, USA 78712-0233,#TAB#","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054065284","display_name":"Joseph Modayil","orcid":null},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joseph Modayil","raw_affiliation_strings":["Department of Computer Science, University of Rochester, PO Box 270226 734 Computer Studies Bldg. Rochester, NY, USA, 14627-0226,","Department of Computer Science, University of Rochester,PO Box 270226 734 Computer Studies Bldg. Rochester, NY, USA, 14627-0226#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Rochester, PO Box 270226 734 Computer Studies Bldg. Rochester, NY, USA, 14627-0226,","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Department of Computer Science, University of Rochester,PO Box 270226 734 Computer Studies Bldg. Rochester, NY, USA, 14627-0226#TAB#","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070191324","display_name":"Benjamin Kuipers","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Benjamin Kuipers","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Michigan, 2260 Hayward Street, Ann Arbour, MI 48109-2121, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, 2260 Hayward Street, Ann Arbour, MI 48109-2121, USA,","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038456644","https://openalex.org/A5054065284","https://openalex.org/A5070191324"],"corresponding_institution_ids":["https://openalex.org/I27837315","https://openalex.org/I5388228","https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":7.436,"has_fulltext":false,"cited_by_count":117,"citation_normalized_percentile":{"value":0.9758377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"29","issue":"4","first_page":"428","last_page":"459"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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":0.9958999752998352,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/topological-map","display_name":"Topological map","score":0.7177693843841553},{"id":"https://openalex.org/keywords/cognitive-map","display_name":"Cognitive map","score":0.673262357711792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5768155455589294},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4977782070636749},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.49650055170059204},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.48879119753837585},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48312923312187195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48295754194259644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47390520572662354},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45968103408813477},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.45212817192077637},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.45005014538764954},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44732189178466797},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2668966054916382},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17801883816719055},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.13351520895957947},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09994575381278992}],"concepts":[{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.7177693843841553},{"id":"https://openalex.org/C170494330","wikidata":"https://www.wikidata.org/wiki/Q1778434","display_name":"Cognitive map","level":3,"score":0.673262357711792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5768155455589294},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4977782070636749},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.49650055170059204},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.48879119753837585},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48312923312187195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48295754194259644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47390520572662354},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45968103408813477},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.45212817192077637},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.45005014538764954},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44732189178466797},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2668966054916382},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17801883816719055},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.13351520895957947},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09994575381278992},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364909100586","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364909100586","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.142.4654","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.142.4654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.utexas.edu/ftp/pub/AI-Lab/tech-reports/UT-AI-TR-08-6.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.142.5042","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.142.5042","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.utexas.edu/users/pbeeson/pbeeson-papers.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":98,"referenced_works":["https://openalex.org/W35362139","https://openalex.org/W74453616","https://openalex.org/W142685375","https://openalex.org/W186096846","https://openalex.org/W247328726","https://openalex.org/W640071535","https://openalex.org/W1502083951","https://openalex.org/W1504520927","https://openalex.org/W1516660548","https://openalex.org/W1518703880","https://openalex.org/W1519865121","https://openalex.org/W1521899940","https://openalex.org/W1527968925","https://openalex.org/W1529253181","https://openalex.org/W1530109122","https://openalex.org/W1549925885","https://openalex.org/W1550098664","https://openalex.org/W1550316294","https://openalex.org/W1567193306","https://openalex.org/W1598230811","https://openalex.org/W1599296339","https://openalex.org/W1601378499","https://openalex.org/W1602500555","https://openalex.org/W1603536826","https://openalex.org/W1611476298","https://openalex.org/W1656165940","https://openalex.org/W1801434236","https://openalex.org/W1854144742","https://openalex.org/W1859354312","https://openalex.org/W1886499571","https://openalex.org/W1978289112","https://openalex.org/W1987780311","https://openalex.org/W2017603160","https://openalex.org/W2018706164","https://openalex.org/W2039367092","https://openalex.org/W2039429895","https://openalex.org/W2050781898","https://openalex.org/W2059039791","https://openalex.org/W2068201344","https://openalex.org/W2070484900","https://openalex.org/W2077550329","https://openalex.org/W2087532070","https://openalex.org/W2097771816","https://openalex.org/W2098288254","https://openalex.org/W2101914010","https://openalex.org/W2103393159","https://openalex.org/W2105273801","https://openalex.org/W2107019937","https://openalex.org/W2107360660","https://openalex.org/W2107905629","https://openalex.org/W2108807938","https://openalex.org/W2115262059","https://openalex.org/W2115584962","https://openalex.org/W2117211893","https://openalex.org/W2121272499","https://openalex.org/W2123417757","https://openalex.org/W2125409550","https://openalex.org/W2130069065","https://openalex.org/W2131912565","https://openalex.org/W2132631693","https://openalex.org/W2133048394","https://openalex.org/W2135896224","https://openalex.org/W2140575869","https://openalex.org/W2140606869","https://openalex.org/W2141664020","https://openalex.org/W2142362566","https://openalex.org/W2144824356","https://openalex.org/W2146079123","https://openalex.org/W2147915785","https://openalex.org/W2148228392","https://openalex.org/W2148500748","https://openalex.org/W2148820580","https://openalex.org/W2149619235","https://openalex.org/W2153209587","https://openalex.org/W2153852998","https://openalex.org/W2157145031","https://openalex.org/W2159559433","https://openalex.org/W2161808137","https://openalex.org/W2165217049","https://openalex.org/W2171494828","https://openalex.org/W2173782939","https://openalex.org/W2228018563","https://openalex.org/W2336416123","https://openalex.org/W2399846468","https://openalex.org/W2432517183","https://openalex.org/W2582998992","https://openalex.org/W2604213426","https://openalex.org/W2606411279","https://openalex.org/W2615497679","https://openalex.org/W2727854388","https://openalex.org/W2981264952","https://openalex.org/W3110909889","https://openalex.org/W3154408391","https://openalex.org/W4214681887","https://openalex.org/W4232444304","https://openalex.org/W4252122518","https://openalex.org/W4285719527","https://openalex.org/W6605876125"],"related_works":["https://openalex.org/W4388904787","https://openalex.org/W1586571961","https://openalex.org/W1994199712","https://openalex.org/W4376312333","https://openalex.org/W3207305163","https://openalex.org/W2768317343","https://openalex.org/W4312359951","https://openalex.org/W2800592953","https://openalex.org/W1522084132","https://openalex.org/W2079987671"],"abstract_inverted_index":{"We":[0,109],"propose":[1],"a":[2,30,72,80,95,114,144,150],"factored":[3],"approach":[4,63],"to":[5,112,127,135,142],"mobile":[6],"robot":[7],"map-building":[8,58],"that":[9,83],"handles":[10],"qualitatively":[11],"different":[12,47],"types":[13],"of":[14,20,33,57,88,117,157],"uncertainty":[15],"by":[16,105,153],"combining":[17],"the":[18,34,55,60,65,85,102,106,118],"strengths":[19],"topological":[21,81,107,151],"and":[22,43,91,140],"metrical":[23,73,96,124,147],"approaches.":[24],"Our":[25,62],"framework":[26],"is":[27],"based":[28],"on":[29,54],"computational":[31],"model":[32],"human":[35],"cognitive":[36],"map;":[37],"thus":[38],"it":[39],"allows":[40],"robust":[41],"navigation":[42],"communication":[44],"within":[45],"several":[46],"spatial":[48],"ontologies.":[49],"This":[50],"paper":[51],"focuses":[52],"exclusively":[53],"issue":[56],"using":[59,101],"framework.":[61],"factors":[64],"mapping":[66],"problem":[67],"into":[68],"natural":[69],"sub-goals:":[70],"building":[71],"representation":[74,97],"for":[75,98],"local":[76,123,130,155],"small-scale":[77],"spaces;":[78],"finding":[79],"map":[82,148],"represents":[84],"qualitative":[86],"structure":[87],"large-scale":[89,99],"space;":[90],"(when":[92],"necessary)":[93],"constructing":[94],"space":[100],"skeleton":[103,152],"provided":[104],"map.":[108],"describe":[110],"how":[111,126,141],"abstract":[113],"symbolic":[115,131,138],"description":[116],"robot\u2019s":[119],"immediate":[120],"surround":[121],"from":[122,149],"models,":[125,139],"combine":[128],"these":[129],"models":[132],"in":[133],"order":[134],"build":[136],"global":[137],"create":[143],"globally":[145],"consistent":[146],"connecting":[154],"frames":[156],"reference.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":12}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
