{"id":"https://openalex.org/W2097146511","doi":"https://doi.org/10.1109/robot.2006.1641808","title":"Hierarchical map building and planning based on graph partitioning","display_name":"Hierarchical map building and planning based on graph partitioning","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2097146511","doi":"https://doi.org/10.1109/robot.2006.1641808","mag":"2097146511"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5067264401","display_name":"Zoran \u017divkovi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"funder","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Z. Zivkovic","raw_affiliation_strings":["Intelligent Syst. Lab. Amsterdam, Amsterdam Univ."],"affiliations":[{"raw_affiliation_string":"Intelligent Syst. Lab. Amsterdam, Amsterdam Univ.","institution_ids":["https://openalex.org/I887064364"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047249695","display_name":"Boudewijn Bakker","orcid":"https://orcid.org/0000-0003-0229-1123"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"funder","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"B. Bakker","raw_affiliation_strings":["Intelligent Syst. Lab. Amsterdam, Amsterdam Univ."],"affiliations":[{"raw_affiliation_string":"Intelligent Syst. Lab. Amsterdam, Amsterdam Univ.","institution_ids":["https://openalex.org/I887064364"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349937","display_name":"Ben Kr\u00f6se","orcid":"https://orcid.org/0000-0003-1237-0618"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"funder","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"B. Krose","raw_affiliation_strings":["Intelligent Syst. Lab. Amsterdam, Amsterdam Univ."],"affiliations":[{"raw_affiliation_string":"Intelligent Syst. Lab. Amsterdam, Amsterdam Univ.","institution_ids":["https://openalex.org/I887064364"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.974,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":71,"citation_normalized_percentile":{"value":0.966934,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"14","issue":null,"first_page":"803","last_page":"809"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10757","display_name":"Geographic Information Systems Studies","score":0.9916,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9907,"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/any-angle-path-planning","display_name":"Any-angle path planning","score":0.552319},{"id":"https://openalex.org/keywords/representation","display_name":"Representation","score":0.5205646},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.43100664}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.74983394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.694697},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.62464666},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5836426},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.552319},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5205646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48957095},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.48402688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45403904},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.43100664},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.39307034},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.74,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":21,"referenced_works":["https://openalex.org/W154232367","https://openalex.org/W1783217918","https://openalex.org/W1872213290","https://openalex.org/W1966949944","https://openalex.org/W2008572525","https://openalex.org/W2010142364","https://openalex.org/W2028838947","https://openalex.org/W2030021468","https://openalex.org/W2095975937","https://openalex.org/W2098432798","https://openalex.org/W2107246263","https://openalex.org/W2113587925","https://openalex.org/W2116833168","https://openalex.org/W2121947440","https://openalex.org/W2131859829","https://openalex.org/W2135674549","https://openalex.org/W2142362566","https://openalex.org/W2151103935","https://openalex.org/W2151425871","https://openalex.org/W2152322845","https://openalex.org/W2165874743"],"related_works":["https://openalex.org/W4395071568","https://openalex.org/W4308080200","https://openalex.org/W3158921809","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2368795992","https://openalex.org/W2161428574","https://openalex.org/W2140766902","https://openalex.org/W2106119116","https://openalex.org/W1904098742"],"abstract_inverted_index":{"Mobile":[0],"robot":[1],"localization":[2],"and":[3,70,89,118],"navigation":[4],"requires":[5],"a":[6,38,45,65,78,94,100,104],"map":[7,40,63,88],"-":[8],"the":[9,14,34,49,61,86,120],"robot's":[10],"internal":[11],"representation":[12,47],"of":[13,36,48,85,122,126],"environment.":[15],"A":[16],"common":[17],"problem":[18,35],"is":[19,98],"that":[20],"path":[21,106],"planning":[22,107],"becomes":[23],"very":[24],"inefficient":[25],"for":[26,55,67,109],"large":[27],"maps.":[28],"In":[29],"this":[30,91],"paper":[31],"we":[32,76],"address":[33],"segmenting":[37],"base-level":[39,62,87],"in":[41,90],"order":[42],"to":[43,82],"construct":[44,93],"higher-level":[46],"space":[50,73],"which":[51,97],"can":[52],"be":[53],"used":[54],"more":[56],"efficient":[57],"planning.":[58],"We":[59,102],"represent":[60],"as":[64],"graph":[66,79],"both":[68],"geometric":[69],"appearance":[71],"based":[72,112],"representations.":[74],"Then":[75],"use":[77],"partitioning":[80],"method":[81,108],"cluster":[83],"nodes":[84],"way":[92],"high-level":[95],"map,":[96],"also":[99],"graph.":[101],"apply":[103],"hierarchical":[105],"stochastic":[110],"tasks":[111],"on":[113],"Markov":[114],"decision":[115],"processes":[116],"(MDPs)":[117],"investigate":[119],"effect":[121],"choosing":[123],"different":[124],"numbers":[125],"clusters":[127]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2097146511","counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2025-04-22T03:45:19.755664","created_date":"2016-06-24"}