{"id":"https://openalex.org/W4415699552","doi":"https://doi.org/10.3389/frobt.2025.1426676","title":"Semantic and fiducial-aided graph simultaneous localization and mapping (SF-GraphSLAM) for robotic in-space assembly and servicing of large truss structures","display_name":"Semantic and fiducial-aided graph simultaneous localization and mapping (SF-GraphSLAM) for robotic in-space assembly and servicing of large truss structures","publication_year":2025,"publication_date":"2025-10-30","ids":{"openalex":"https://openalex.org/W4415699552","doi":"https://doi.org/10.3389/frobt.2025.1426676","pmid":"https://pubmed.ncbi.nlm.nih.gov/41245197"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1426676","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1426676","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1426676/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1426676/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037584293","display_name":"Samantha Chapin","orcid":"https://orcid.org/0000-0001-9675-4242"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samantha Chapin","raw_affiliation_strings":["Field and Space Experimental Robotics (FASER) Laboratory, Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Field and Space Experimental Robotics (FASER) Laboratory, Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070222826","display_name":"William Chapin","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Chapin","raw_affiliation_strings":["Field and Space Experimental Robotics (FASER) Laboratory, Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Field and Space Experimental Robotics (FASER) Laboratory, Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091048049","display_name":"Erik Komendera","orcid":"https://orcid.org/0000-0001-6760-6662"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erik Komendera","raw_affiliation_strings":["Field and Space Experimental Robotics (FASER) Laboratory, Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Field and Space Experimental Robotics (FASER) Laboratory, Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA, United States","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037584293"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.6053,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70809396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"1426676","last_page":"1426676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.4733000099658966,"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":0.4733000099658966,"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":0.30709999799728394,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.04410000145435333,"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/semantic-mapping","display_name":"Semantic mapping","score":0.6732000112533569},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6425999999046326},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6092000007629395},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5483999848365784},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.5245000123977661},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5005000233650208},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.4867999851703644},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.47279998660087585}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8429999947547913},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.6732000112533569},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6425999999046326},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6092000007629395},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5483999848365784},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.5245000123977661},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5005000233650208},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.4867999851703644},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C558772884","wikidata":"https://www.wikidata.org/wiki/Q1508564","display_name":"Graph rewriting","level":3,"score":0.42570000886917114},{"id":"https://openalex.org/C173534245","wikidata":"https://www.wikidata.org/wiki/Q1328068","display_name":"Truss","level":2,"score":0.4115999937057495},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4083000123500824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4025000035762787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.397599995136261},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.3562000095844269},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C16311509","wikidata":"https://www.wikidata.org/wiki/Q4148050","display_name":"Dependency graph","level":3,"score":0.28610000014305115},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26660001277923584},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.26100000739097595},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.26080000400543213},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.25870001316070557},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.2556999921798706}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2025.1426676","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1426676","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1426676/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41245197","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41245197","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:doaj.org/article:415b1448ea504b1a9da74a5ecf3917d9","is_oa":true,"landing_page_url":"https://doaj.org/article/415b1448ea504b1a9da74a5ecf3917d9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11421498","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12613163","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1426676","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1426676","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1426676/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415699552.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1892959231","https://openalex.org/W1995671898","https://openalex.org/W2024908906","https://openalex.org/W2055519442","https://openalex.org/W2057375858","https://openalex.org/W2098305758","https://openalex.org/W2103894593","https://openalex.org/W2125188427","https://openalex.org/W2161149069","https://openalex.org/W2522460278","https://openalex.org/W2590852890","https://openalex.org/W2746349752","https://openalex.org/W2755646169","https://openalex.org/W2895046241","https://openalex.org/W2911693460","https://openalex.org/W3025835483","https://openalex.org/W3148848505","https://openalex.org/W3154694021","https://openalex.org/W3199827769","https://openalex.org/W4200371700","https://openalex.org/W4251960031","https://openalex.org/W4281642191","https://openalex.org/W4283373333","https://openalex.org/W4296107532","https://openalex.org/W4321497647","https://openalex.org/W4387741008","https://openalex.org/W4388209435","https://openalex.org/W4390659289","https://openalex.org/W4396214921","https://openalex.org/W4399210029","https://openalex.org/W4399469378","https://openalex.org/W4402687495","https://openalex.org/W4407416242"],"related_works":[],"abstract_inverted_index":{"This":[0,46],"article":[1],"proposes":[2],"a":[3,15,21,57,62,71,97,142,163,238,265,278],"method":[4,60,178],"that":[5,33,94,236],"uses":[6],"information":[7,120],"about":[8,121],"modules":[9,55],"and":[10,23,29,43,146,149,225],"desired":[11,123,134,249],"assembly":[12,42,59,135,224],"locations":[13],"within":[14,132,247,257],"large":[16,228,284],"truss":[17,229,270],"structure":[18,255,271],"to":[19,70,79,96,105,117,173,187,205,216,234,251,263],"create":[20],"semantic":[22,119,152],"fiducial":[24],"aided":[25],"graph":[26,144],"simultaneous":[27],"localization":[28],"mapping":[30,147],"(SF-GraphSLAM)":[31],"algorithm":[32],"is":[34,47,68,179,232,240,246,256,274,277],"better":[35],"tailored":[36],"for":[37,168,208,222],"use":[38,118],"during":[39],"robotic":[40],"in-space":[41,223],"servicing":[44,226],"operations.":[45],"achieved":[48],"by":[49],"first":[50],"reducing":[51],"the":[52,81,89,122,133,151,156,166,191,194,206,217,242,248,253,258,269],"number":[53,82,90,158],"of":[54,83,91,109,159,193,220,227,268],"using":[56,197],"mixed":[58],"vs.":[61],"strut-by-strut":[63],"method.":[64],"Then,":[65],"each":[66,244],"module":[67,95,130,245],"correlated":[69],"visual":[72],"tag":[73],"(in":[74],"this":[75,176,182,202],"article,":[76,183],"an":[77],"AprilTag)":[78],"reduce":[80],"elements":[84],"being":[85,275],"observed":[86],"further":[87],"from":[88],"sub-struts":[92],"in":[93,181,282],"single":[98],"AprilTag":[99],"marker.":[100],"Two":[101],"tags":[102],"are":[103,115,185],"required":[104],"ensure":[106,235,252],"proper":[107],"deployment":[108],"most":[110],"deployable":[111],"modules.":[112],"Subsequently,":[113],"we":[114,140],"able":[116,262],"transformation":[124],"matrix":[125],"between":[126],"any":[127],"two":[128],"adjacent":[129],"AprilTags":[131],"structure.":[136],"For":[137],"our":[138],"experimentation,":[139],"expanded":[141],"factor":[143],"smoothing":[145],"model":[148],"added":[150],"information,":[153],"looking":[154],"at":[155,175],"smaller":[157],"landmark":[160],"AprilTags,":[161],"with":[162],"camera":[164],"representing":[165],"robot":[167,239],"simplicity.":[169],"The":[170],"mathematical":[171],"approach":[172],"arrive":[174],"new":[177],"included":[180],"as":[184,237,272],"simulations":[186],"test":[188],"it":[189,273],"against":[190],"state":[192],"art":[195],"(SOA)":[196],"no":[198],"structural":[199],"knowledge.":[200],"Overall,":[201],"research":[203],"contributes":[204],"SOA":[207],"both":[209],"general":[210],"SLAM":[211,221],"work":[212],"and,":[213],"more":[214],"specifically,":[215],"underdeveloped":[218],"field":[219],"structures.":[230,286],"It":[231],"critical":[233],"assembling":[241],"modules,":[243],"tolerances":[250],"final":[254],"design":[259],"requirements.":[260],"Being":[261],"build":[264],"virtual":[266],"twin":[267],"assembled":[276],"key":[279],"tent":[280],"pole":[281],"achieving":[283],"space":[285]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-30T00:00:00"}