{"id":"https://openalex.org/W2974838229","doi":"https://doi.org/10.3906/elk-1807-335","title":"A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach","display_name":"A novel map-merging technique for occupancy grid-based maps using multiple robots: a semantic approach","publication_year":2019,"publication_date":"2019-08-10","ids":{"openalex":"https://openalex.org/W2974838229","doi":"https://doi.org/10.3906/elk-1807-335","mag":"2974838229"},"language":"en","primary_location":{"id":"doi:10.3906/elk-1807-335","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-1807-335","pdf_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1557&context=elektrik","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1557&context=elektrik","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062053285","display_name":"Akif Durdu","orcid":"https://orcid.org/0000-0002-5611-2322"},"institutions":[{"id":"https://openalex.org/I4210117254","display_name":"Konya Technical University","ror":"https://ror.org/02s82rs08","country_code":"TR","type":"education","lineage":["https://openalex.org/I4210117254"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Akif DURDU","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Faculty of Engineering and Natural Sciences, Konya Technical University, Konya, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Faculty of Engineering and Natural Sciences, Konya Technical University, Konya, Turkey","institution_ids":["https://openalex.org/I4210117254"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008565582","display_name":"Mehmet Korkmaz","orcid":"https://orcid.org/0000-0002-1462-8005"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehmet KORKMAZ","raw_affiliation_strings":["Department of Civil, Environmental and Geodetic Engineering, The Ohio State University, Columbus, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil, Environmental and Geodetic Engineering, The Ohio State University, Columbus, Ohio, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5062053285"],"corresponding_institution_ids":["https://openalex.org/I4210117254"],"apc_list":null,"apc_paid":null,"fwci":16.5456,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98483365,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"27","issue":"5","first_page":"3980","last_page":"3993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9955999851226807,"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/T12288","display_name":"Optimization and Search Problems","score":0.989300012588501,"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/computer-science","display_name":"Computer science","score":0.6905816793441772},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6507649421691895},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.618338942527771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6109533905982971},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5942689180374146},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5410782694816589},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5281194448471069},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5262055993080139},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.49437618255615234},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.48374152183532715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4648517668247223},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4492435157299042},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30087175965309143},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1534818708896637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10163986682891846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6905816793441772},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6507649421691895},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.618338942527771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6109533905982971},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5942689180374146},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5410782694816589},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5281194448471069},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5262055993080139},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.49437618255615234},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.48374152183532715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4648517668247223},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4492435157299042},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30087175965309143},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1534818708896637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10163986682891846},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3906/elk-1807-335","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-1807-335","pdf_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1557&context=elektrik","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","raw_type":"journal-article"},{"id":"pmh:oai:dergipark.org.tr:article/662359","is_oa":false,"landing_page_url":"https://dergipark.org.tr/tr/pub/tbtkelektrik/issue/50810/662359","pdf_url":null,"source":{"id":"https://openalex.org/S4306401840","display_name":"DergiPark (Istanbul University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67581229","host_organization_name":"Istanbul University","host_organization_lineage":["https://openalex.org/I67581229"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\\n                                                                    Volume: 27, Issue: 5\\n                                                                                                    3980-3993\\n                                                                \\n                            ","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3906/elk-1807-335","is_oa":true,"landing_page_url":"https://doi.org/10.3906/elk-1807-335","pdf_url":"https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=1557&context=elektrik","source":{"id":"https://openalex.org/S32837994","display_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","issn_l":"1300-0632","issn":["1300-0632","1303-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310318422","host_organization_name":"Scientific and Technological Research Council of Turkey (TUBITAK)","host_organization_lineage":["https://openalex.org/P4310318422"],"host_organization_lineage_names":["Scientific and Technological Research Council of Turkey (TUBITAK)"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7400000095367432,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2974838229.pdf","grobid_xml":"https://content.openalex.org/works/W2974838229.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W100414768","https://openalex.org/W1532362218","https://openalex.org/W1586173270","https://openalex.org/W1677409904","https://openalex.org/W1990370699","https://openalex.org/W1993778755","https://openalex.org/W2026869710","https://openalex.org/W2028184164","https://openalex.org/W2029724021","https://openalex.org/W2033049564","https://openalex.org/W2055274877","https://openalex.org/W2061026761","https://openalex.org/W2081819205","https://openalex.org/W2111308925","https://openalex.org/W2112694798","https://openalex.org/W2129208272","https://openalex.org/W2134250996","https://openalex.org/W2146881125","https://openalex.org/W2150243972","https://openalex.org/W2156512384","https://openalex.org/W2163261370","https://openalex.org/W2337688406","https://openalex.org/W2395858929","https://openalex.org/W2401484111","https://openalex.org/W2402855441","https://openalex.org/W2408580786","https://openalex.org/W2562628082","https://openalex.org/W2573552470","https://openalex.org/W2770018373","https://openalex.org/W2782889895","https://openalex.org/W2923293496","https://openalex.org/W6665825722","https://openalex.org/W6676785777","https://openalex.org/W6680064811","https://openalex.org/W7030666135"],"related_works":["https://openalex.org/W2130588278","https://openalex.org/W2140013578","https://openalex.org/W2551663027","https://openalex.org/W2132105173","https://openalex.org/W1605073378","https://openalex.org/W1538887534","https://openalex.org/W4312888545","https://openalex.org/W2792859880","https://openalex.org/W3000957758","https://openalex.org/W2312352258"],"abstract_inverted_index":{"Map":[0],"merging":[1],"is":[2,20,30,70,87],"a":[3,109,153,158],"noteworthy":[4],"phenomenon":[5],"for":[6,172],"cases":[7],"such":[8,54,97],"as":[9,55],"search":[10],"and":[11,13,59,83,111,157,166,179],"rescue":[12],"disaster":[14],"areas":[15],"in":[16],"which":[17],"the":[18,33,39,46,60,66,74,84,126,144,162,180],"duration":[19],"quite":[21],"significant":[22],"when":[23,102],"gathering":[24],"information":[25],"about":[26],"an":[27],"environment.":[28],"It":[29],"obvious":[31],"that":[32,73,174],"total":[34],"mapping":[35,167],"time":[36,182],"decreases":[37],"if":[38],"number":[40],"of":[41,48,62,77,129],"agents":[42,50],"(robots)":[43],"increases.":[44],"However,":[45,96],"use":[47],"multiple":[49],"leads":[51],"to":[52,117,143],"problems":[53],"task":[56,181],"allocation":[57],"schemes":[58],"fusing":[61],"local":[63,78,94,103,138],"maps.":[64,95],"Examining":[65],"present":[67],"methods,":[68],"it":[69],"generally":[71],"observed":[72],"common":[75],"features":[76],"maps":[79,104,139],"have":[80,105,175],"been":[81,115],"found":[82],"global":[85],"map":[86],"formed":[88],"by":[89],"obtaining":[90],"related":[91],"transformation":[92],"between":[93],"implementations":[98],"may":[99],"be":[100,169,185],"risky":[101],"symmetrical":[106,176],"areas.":[107],"Hence,":[108],"novel":[110],"semantic":[112],"approach":[113],"has":[114],"developed":[116,122],"solve":[118],"this":[119],"problem.":[120],"The":[121,149],"method":[123],"counts":[124],"on":[125],"reliability":[127],"level":[128],"feature":[130,134],"points.":[131,148],"If":[132],"relevant":[133],"points":[135],"are":[136,140],"trusted,":[137],"merged":[141],"according":[142],"best":[145],"point":[146],"or":[147],"simulation":[150],"results":[151],"from":[152],"robot":[154],"operating":[155],"system":[156],"real-time":[159],"experiment":[160],"support":[161],"proposed":[163],"method's":[164],"efficiency,":[165],"can":[168,183],"performed":[170],"even":[171],"environments":[173],"similar":[177],"parts":[178],"thus":[184],"reduced.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-04T06:14:18.571774","created_date":"2025-10-10T00:00:00"}