{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,17]],"date-time":"2024-09-17T10:51:54Z","timestamp":1726570314554},"reference-count":47,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2009,7,21]],"date-time":"2009-07-21T00:00:00Z","timestamp":1248134400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,8]]},"abstract":" The challenge of persistent navigation and mapping is to develop an autonomous robot system that can simultaneously localize, map and navigate over the lifetime of the robot with little or no human intervention. Most solutions to the simultaneous localization and mapping (SLAM) problem aim to produce highly accurate maps of areas that are assumed to be static. In contrast, solutions for persistent navigation and mapping must produce reliable goal-directed navigation outcomes in an environment that is assumed to be in constant flux. We investigate the persistent navigation and mapping problem in the context of an autonomous robot that performs mock deliveries in a working office environment over a two-week period. The solution was based on the biologically inspired visual SLAM system, RatSLAM. RatSLAM performed SLAM continuously while interacting with global and local navigation systems, and a task selection module that selected between exploration, delivery, and recharging modes. The robot performed 1,143 delivery tasks to 11 different locations with only one delivery failure (from which it recovered), traveled a total distance of more than 40 km over 37 hours of active operation, and recharged autonomously a total of 23 times. <\/jats:p>","DOI":"10.1177\/0278364909340592","type":"journal-article","created":{"date-parts":[[2009,7,22]],"date-time":"2009-07-22T01:40:26Z","timestamp":1248226826000},"page":"1131-1153","source":"Crossref","is-referenced-by-count":208,"title":["Persistent Navigation and Mapping using a Biologically Inspired SLAM System"],"prefix":"10.1177","volume":"29","author":[{"given":"Michael","family":"Milford","sequence":"first","affiliation":[{"name":"Queensland Brain Institute and School of Information Technology and Electrical Engineering, The University of Queensland, Brisbane, Queensland 4072, Australia,"}]},{"given":"Gordon","family":"Wyeth","sequence":"additional","affiliation":[{"name":"School of Information Technology and Electrical Engineering, The University of Queensland, Brisbane, Queensland 4072, Australia,"}]}],"member":"179","published-online":{"date-parts":[[2009,7,21]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004642"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004514"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1007\/s004220000171"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9074-3"},{"volume-title":"Proceedings of Robotics: Science and Systems","author":"Biber, P.","key":"atypb5"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908096286"},{"volume-title":"Autostitch","year":"2008","author":"Brown, M.","key":"atypb7"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.1997.0140"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500404"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090961"},{"volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Dayoub, F.","key":"atypb11"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015269615729"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Folkesson, J.","key":"atypb13"},{"volume-title":"Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing","author":"Frigo, M.","key":"atypb14"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4353-05.2006"},{"volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems","author":"Giovannangeli, C.","key":"atypb16"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1038\/nature03721"},{"volume-title":"The Robotics Data Set Repository","year":"2008","author":"Howard, A.","key":"atypb19"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-97610-0"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(91)90014-C"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004888"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.09.018"},{"key":"atypb25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004520"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Milford, M.","key":"atypb26"},{"volume-title":"Robot Navigation from Nature, Vol. 41","year":"2008","author":"Milford, M.J.","key":"atypb27"},{"volume-title":"Proceedings of the Australasian Conference on Robotics and Automation","author":"Milford, M.J.","key":"atypb28"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Milford, M.J.","key":"atypb29"},{"volume-title":"Proceedings of the International Conference on Robots and Intelligent Systems","author":"Milford, M.J.","key":"atypb30"},{"volume-title":"Proceedings of the International Joint Conference on Artificial Intelligence","author":"Montemerlo, M.","key":"atypb31"},{"volume-title":"Proceedings of the AAAI National Conference on Artificial Intelligence","author":"Montemerlo, M.","key":"atypb32"},{"key":"atypb33","doi-asserted-by":"publisher","DOI":"10.1007\/BF00239813"},{"volume-title":"Proceedings of the International Conference on Field and Service Robotics","author":"Prasser, D.","key":"atypb34"},{"key":"atypb35","first-page":"599","volume":"10","author":"Ranck, J.B.","year":"1984","journal-title":"Society Neuroscience Abstracts"},{"key":"atypb36","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.17-15-05900.1997"},{"key":"atypb37","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-8997-2_14"},{"volume-title":"OpenSLAM","year":"2007","author":"Stachniss, C.","key":"atypb38"},{"key":"atypb39","doi-asserted-by":"publisher","DOI":"10.1088\/0954-898X_13_4_301"},{"key":"atypb40","doi-asserted-by":"publisher","DOI":"10.1080\/net.13.2.217.242"},{"key":"atypb41","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022067922"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Thrun, S.","key":"atypb42"},{"key":"atypb43","doi-asserted-by":"crossref","unstructured":"Thrun, S. and Leonard, J. ( 2008). Simultaneous Localization and Mapping, Siciliano, B. and Khatib, O. (eds) (Handbook of Robotics). Berlin , Springer, pp. 871-889.","DOI":"10.1007\/978-3-540-30301-5_38"},{"key":"atypb44","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065387"},{"volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Wang, C.","key":"atypb45"},{"key":"atypb46","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0606-4"},{"volume-title":"Proceedings of the Australasian Conference on Robotics and Automation","author":"Zhang, A.M.","key":"atypb47"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909340592","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909340592","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,15]],"date-time":"2024-09-15T10:54:32Z","timestamp":1726397672000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364909340592"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,7,21]]},"references-count":47,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2010,8]]}},"alternative-id":["10.1177\/0278364909340592"],"URL":"https:\/\/doi.org\/10.1177\/0278364909340592","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2009,7,21]]}}}