{"id":"https://openalex.org/W2064177716","doi":"https://doi.org/10.2514/1.i010155","title":"Qualitative Relational Mapping for Mobile Robots with Minimal Sensing","display_name":"Qualitative Relational Mapping for Mobile Robots with Minimal Sensing","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2064177716","doi":"https://doi.org/10.2514/1.i010155","mag":"2064177716"},"language":"en","primary_location":{"id":"doi:10.2514/1.i010155","is_oa":false,"landing_page_url":"https://doi.org/10.2514/1.i010155","pdf_url":null,"source":{"id":"https://openalex.org/S4210240151","display_name":"Journal of Aerospace Information Systems","issn_l":"2327-3097","issn":["2327-3097"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315709","host_organization_name":"American Institute of Aeronautics and Astronautics","host_organization_lineage":["https://openalex.org/P4310315709"],"host_organization_lineage_names":["American Institute of Aeronautics and Astronautics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Aerospace Information Systems","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/A5015949025","display_name":"Mark McClelland","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark McClelland","raw_affiliation_strings":["Dept. of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York 14853","Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, 14853#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, 14853#TAB#","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Dept. of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York 14853","Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, 14853#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, 14853#TAB#","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016286806","display_name":"Tara Estlin","orcid":"https://orcid.org/0000-0002-0411-1205"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tara Estlin","raw_affiliation_strings":["Mission Systems and Operations Division, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California 91109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mission Systems and Operations Division, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California 91109","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.1004,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9830807,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"11","issue":"8","first_page":"497","last_page":"511"},"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":0.9975000023841858,"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":0.9965999722480774,"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/landmark","display_name":"Landmark","score":0.7435026168823242},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6333586573600769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5830304026603699},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5532450675964355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46838217973709106},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46356305480003357},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4596104621887207},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.44686996936798096},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.22990918159484863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18662172555923462}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7435026168823242},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6333586573600769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5830304026603699},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5532450675964355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46838217973709106},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46356305480003357},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4596104621887207},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.44686996936798096},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.22990918159484863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18662172555923462},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2514/1.i010155","is_oa":false,"landing_page_url":"https://doi.org/10.2514/1.i010155","pdf_url":null,"source":{"id":"https://openalex.org/S4210240151","display_name":"Journal of Aerospace Information Systems","issn_l":"2327-3097","issn":["2327-3097"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315709","host_organization_name":"American Institute of Aeronautics and Astronautics","host_organization_lineage":["https://openalex.org/P4310315709"],"host_organization_lineage_names":["American Institute of Aeronautics and Astronautics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Aerospace Information Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W852874","https://openalex.org/W11569476","https://openalex.org/W1507009174","https://openalex.org/W1515676329","https://openalex.org/W1544133683","https://openalex.org/W1567749508","https://openalex.org/W1593007803","https://openalex.org/W1597095978","https://openalex.org/W1601656708","https://openalex.org/W1656165940","https://openalex.org/W1836839941","https://openalex.org/W1985397417","https://openalex.org/W1988928059","https://openalex.org/W1992710872","https://openalex.org/W1995980194","https://openalex.org/W2011754354","https://openalex.org/W2087358611","https://openalex.org/W2113685147","https://openalex.org/W2113906280","https://openalex.org/W2115121549","https://openalex.org/W2125310925","https://openalex.org/W2127578024","https://openalex.org/W2131163404","https://openalex.org/W2131439959","https://openalex.org/W2134358914","https://openalex.org/W2144824356","https://openalex.org/W2146881125","https://openalex.org/W2152671441","https://openalex.org/W2152864241","https://openalex.org/W2183640398","https://openalex.org/W2498185067","https://openalex.org/W4298059021"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W4243161226","https://openalex.org/W2950647290","https://openalex.org/W2620829895","https://openalex.org/W2142338363","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,22,96],"novel":[4,69],"method":[5,71],"for":[6,122,137],"autonomous":[7],"robotic":[8],"navigation":[9],"and":[10,117,133],"mapping":[11],"of":[12,30,60,65,85,106,114,150],"large-scale":[13],"spaces":[14],"with":[15],"minimal":[16],"sensing.":[17],"The":[18,104],"proposed":[19],"algorithm":[20],"constructs":[21],"graph-based":[23],"map":[24,94],"that":[25,78],"encodes":[26],"the":[27,33,46,52,61,83,93,144],"relative":[28,62],"location":[29],"landmarks":[31,49],"in":[32,36,58,143],"environment.":[34],"Uncertainty":[35],"these":[37,107],"locations":[38],"is":[39,76,119,127],"captured":[40],"by":[41,51],"imposing":[42],"qualitative":[43,86],"constraints":[44],"on":[45,73,100,112],"relationships":[47,55],"between":[48],"observed":[50],"robot.":[53],"These":[54],"are":[56,90,135],"represented":[57],"terms":[59],"geometrical":[63],"layout":[64],"landmark":[66],"triplets.":[67],"A":[68],"measurement":[70],"based":[72,99],"camera":[74],"imagery":[75],"presented":[77,136],"extends":[79],"previous":[80],"work":[81],"from":[82],"field":[84],"spatial":[87],"reasoning.":[88],"Measurements":[89],"fused":[91],"into":[92],"using":[95,129,140],"deterministic":[97],"approach":[98],"iterative":[101],"graph":[102],"updates.":[103],"generation":[105],"maps":[108],"does":[109],"not":[110],"depend":[111],"estimates":[113],"robot":[115],"egomotion,":[116],"it":[118],"consequently":[120],"suitable":[121],"high-slip":[123],"environments.":[124],"Algorithm":[125],"performance":[126],"evaluated":[128],"Monte":[130],"Carlo":[131],"simulations,":[132],"results":[134],"an":[138],"experiment":[139],"data":[141],"gathered":[142],"Jet":[145],"Propulsion":[146],"Laboratory,":[147],"California":[148],"Institute":[149],"Technology":[151],"MarsYard.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
