{"id":"https://openalex.org/W7147520169","doi":"https://doi.org/10.48550/arxiv.2603.28271","title":"osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy","display_name":"osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147520169","doi":"https://doi.org/10.48550/arxiv.2603.28271"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.28271","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28271","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.28271","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132724869","display_name":"Yongqi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yongqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132614397","display_name":"Jiajie Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiajie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100613435","display_name":"Chengqian Li","orcid":"https://orcid.org/0009-0005-1427-5878"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chengqian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101663319","display_name":"Fujing Xie","orcid":"https://orcid.org/0009-0005-5050-0307"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Fujing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132732519","display_name":"S\u00f6ren Schwertfeger","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schwertfeger, S\u00f6ren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4900999963283539,"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":0.4900999963283539,"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":0.43459999561309814,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.014700000174343586,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/motion-planning","display_name":"Motion planning","score":0.5504999756813049},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5424000024795532},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5081999897956848},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4779999852180481},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4546000063419342},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4424000084400177},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.40299999713897705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36309999227523804}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7141000032424927},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5504999756813049},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5424000024795532},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5081999897956848},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4779999852180481},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46810001134872437},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4546000063419342},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4424000084400177},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4072999954223633},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.40299999713897705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3643999993801117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36309999227523804},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.33090001344680786},{"id":"https://openalex.org/C74912251","wikidata":"https://www.wikidata.org/wiki/Q6815727","display_name":"Memory footprint","level":2,"score":0.3296999931335449},{"id":"https://openalex.org/C194498986","wikidata":"https://www.wikidata.org/wiki/Q680016","display_name":"Roaming","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3197999894618988},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.31279999017715454},{"id":"https://openalex.org/C2778692605","wikidata":"https://www.wikidata.org/wiki/Q4041866","display_name":"Joins","level":2,"score":0.3073999881744385},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C181844469","wikidata":"https://www.wikidata.org/wiki/Q182270","display_name":"Raster graphics","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.26820001006126404},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.26019999384880066},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.28271","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28271","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.28271","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28271","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,67,229],"deployment":[1],"of":[2,72,139],"mobile":[3],"robots":[4],"in":[5,33],"large-scale,":[6],"multi-floor":[7],"environments":[8],"demands":[9],"navigation":[10,22,53],"systems":[11],"that":[12,75,169],"achieve":[13],"spatial":[14],"scalability":[15],"without":[16],"compromising":[17],"local":[18,81,105,126,134],"kinematic":[19],"precision.":[20],"Traditional":[21],"stacks,":[23],"reliant":[24],"on":[25,96,115,179,189,206],"monolithic":[26],"occupancy":[27],"grid":[28,90,128],"maps,":[29],"face":[30],"severe":[31],"bottlenecks":[32],"storage":[34],"efficiency,":[35],"cross-floor":[36],"reasoning,":[37],"and":[38,214],"long-horizon":[39],"planning.":[40],"To":[41],"address":[42],"these":[43],"limitations,":[44],"this":[45],"paper":[46],"presents":[47],"osmAG-Nav,":[48],"a":[49,70,97,124,145,164,180,203],"complete,":[50],"open-source":[51],"ROS2":[52,154,236],"stack":[54,227,231],"built":[55],"upon":[56],"the":[57,130,133,140,190,225],"hierarchical":[58],"semantic":[59],"topometric":[60],"OpenStreetMap":[61],"Area":[62],"Graph":[63],"(osmAG)":[64],"map":[65],"standard.":[66],"system":[68],"follows":[69],"\"System":[71],"Systems\"":[73],"architecture":[74],"decouples":[76],"global":[77],"topological":[78],"reasoning":[79],"from":[80,104],"metric":[82,127],"execution.":[83],"A":[84,119,218],"Hierarchical":[85],"osmAG":[86],"planner":[87],"replaces":[88],"dense":[89],"searches":[91],"with":[92],"an":[93],"LCA-anchored":[94],"pipeline":[95],"passage-centric":[98],"graph":[99],"whose":[100],"edge":[101],"costs":[102],"derive":[103],"raster":[106],"traversability":[107],"rather":[108],"than":[109,202],"Euclidean":[110],"distance,":[111],"yielding":[112],"low-millisecond":[113],"planning":[114,200],"long":[116,207],"campus-scale":[117],"routes.":[118],"Rolling":[120],"Window":[121],"mechanism":[122],"rasterizes":[123],"fixed-size":[125],"around":[129],"robot,":[131],"keeping":[132],"costmap":[135],"memory":[136],"footprint":[137],"independent":[138],"total":[141],"mapped":[142],"area,":[143],"while":[144,209],"Segmented":[146],"Execution":[147],"strategy":[148],"dispatches":[149],"intermediate":[150],"goals":[151],"to":[152,197],"standard":[153],"controllers":[155],"for":[156],"smooth":[157],"handoffs.":[158],"System":[159],"robustness":[160],"is":[161,232],"reinforced":[162],"by":[163],"structure-aware":[165],"LiDAR":[166],"localization":[167,216],"framework":[168],"filters":[170],"dynamic":[171],"clutter":[172],"against":[173],"permanent":[174],"architectural":[175],"priors.":[176],"Extensive":[177],"experiments":[178],"real-world":[181],"multi-story":[182],"indoor-outdoor":[183],"campus":[184],"(>11,025":[185],"m^2)":[186],"show":[187],"that,":[188],"same-floor":[191],"benchmark":[192],"subset,":[193],"osmAG-Nav":[194],"delivers":[195],"up":[196],"7816x":[198],"lower":[199],"latency":[201],"grid-based":[204],"baseline":[205],"routes":[208],"maintaining":[210],"low":[211],"path-length":[212],"overhead":[213],"lifelong":[215],"stability.":[217],"single-floor":[219],"long-range":[220],"robot":[221],"mission":[222],"further":[223],"validates":[224],"integrated":[226],"reliability.":[228],"full":[230],"released":[233],"as":[234],"modular":[235],"Lifecycle":[237],"Nodes.":[238]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-02T00:00:00"}