{"id":"https://openalex.org/W4413392958","doi":"https://doi.org/10.23919/acc63710.2025.11107980","title":"Communication-Efficient Data Exchange for Decentralized Loop-Closure Detection in Collaborative SLAM","display_name":"Communication-Efficient Data Exchange for Decentralized Loop-Closure Detection in Collaborative SLAM","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413392958","doi":"https://doi.org/10.23919/acc63710.2025.11107980"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107980","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","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/A5076411488","display_name":"H. Zhang","orcid":"https://orcid.org/0009-0003-7825-2646"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haochang Zhang","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039816926","display_name":"Yixian Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixian Zhao","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101705113","display_name":"Jinming Xu","orcid":"https://orcid.org/0000-0002-2218-5814"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinming Xu","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5076411488"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26765017,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1185","last_page":"1191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.988099992275238,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9876999855041504,"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/closure","display_name":"Closure (psychology)","score":0.7123136520385742},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462175846099854},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6140071153640747},{"id":"https://openalex.org/keywords/data-exchange","display_name":"Data exchange","score":0.5580179691314697},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5031701922416687},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34114038944244385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1889178454875946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15885668992996216},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1420622169971466},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.12598693370819092},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06886214017868042}],"concepts":[{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7123136520385742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462175846099854},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6140071153640747},{"id":"https://openalex.org/C15845906","wikidata":"https://www.wikidata.org/wiki/Q1172338","display_name":"Data exchange","level":2,"score":0.5580179691314697},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5031701922416687},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34114038944244385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1889178454875946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15885668992996216},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1420622169971466},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.12598693370819092},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06886214017868042},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc63710.2025.11107980","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","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":26,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1680189815","https://openalex.org/W1989484209","https://openalex.org/W2009786555","https://openalex.org/W2150066425","https://openalex.org/W2220727758","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2570713051","https://openalex.org/W2618008911","https://openalex.org/W2747182455","https://openalex.org/W2883975974","https://openalex.org/W2915041254","https://openalex.org/W2963719189","https://openalex.org/W2963976794","https://openalex.org/W2964114902","https://openalex.org/W2976722701","https://openalex.org/W2978861658","https://openalex.org/W3036641799","https://openalex.org/W3082411600","https://openalex.org/W3133343964","https://openalex.org/W3134969724","https://openalex.org/W3206594419","https://openalex.org/W4235295823","https://openalex.org/W4389665630","https://openalex.org/W4400266727"],"related_works":["https://openalex.org/W315394019","https://openalex.org/W24774503","https://openalex.org/W2923398117","https://openalex.org/W4309585848","https://openalex.org/W2265383332","https://openalex.org/W2014821076","https://openalex.org/W4328130279","https://openalex.org/W2105009749","https://openalex.org/W4299387245","https://openalex.org/W2765469179"],"abstract_inverted_index":{"Inter-robot":[0],"loop":[1],"closure":[2],"detection":[3],"is":[4,108],"crucial":[5],"in":[6,69],"Collaborative":[7],"Simultaneous":[8],"Localization":[9],"and":[10,43,60,72],"Mapping":[11],"(CSLAM)":[12],"as":[13,63],"it":[14],"integrates":[15],"individual":[16],"robot":[17],"trajectories":[18],"into":[19],"a":[20,30,81,98],"unified":[21],"map.":[22],"However,":[23],"accurately":[24],"identifying":[25],"all":[26],"overlapping":[27],"observations":[28],"among":[29],"large":[31],"group":[32],"of":[33,46,88,119],"robots":[34],"poses":[35],"significant":[36],"challenges":[37],"due":[38],"to":[39,56],"the":[40,64,86,105,117],"limited":[41],"computational":[42],"communication":[44],"resources":[45],"multi-robot":[47],"systems.":[48],"Existing":[49],"approaches":[50],"typically":[51],"rely":[52],"on":[53,97],"central":[54,99],"nodes":[55],"facilitate":[57],"data":[58,93],"exchange":[59],"become":[61],"resource-intensive":[62],"problem":[65],"size":[66],"increases,":[67],"resulting":[68],"substantial":[70],"overhead":[71],"limiting":[73],"scalability.":[74],"To":[75],"address":[76],"this":[77],"issue,":[78],"we":[79],"propose":[80],"distributed":[82],"method":[83,107],"that":[84,104],"decentralizes":[85],"execution":[87],"resource-adaptive":[89],"algorithms,":[90],"enabling":[91],"efficient":[92],"transmission":[94],"without":[95],"relying":[96],"node.":[100],"Experimental":[101],"results":[102],"show":[103],"proposed":[106],"computationally":[109],"efficient,":[110],"outperforming":[111],"benchmark":[112],"algorithms":[113],"while":[114],"closely":[115],"matching":[116],"performance":[118],"centralized":[120],"counterparts.":[121]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}