{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T14:49:56Z","timestamp":1781275796998,"version":"3.54.1"},"reference-count":59,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T00:00:00Z","timestamp":1616630400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T00:00:00Z","timestamp":1616630400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Instituto Tecnologico Vale"},{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["001"],"award-info":[{"award-number":["001"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["001"],"award-info":[{"award-number":["001"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1007\/s10846-021-01321-5","type":"journal-article","created":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T22:43:10Z","timestamp":1616712190000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":44,"title":["Towards Semi-autonomous Robotic Inspection and Mapping in Confined Spaces with the EspeleoRob\u00f4"],"prefix":"10.1007","volume":"101","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4182-2540","authenticated-orcid":false,"given":"H\u00e9ctor","family":"Azp\u00farua","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adriano","family":"Rezende","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guilherme","family":"Potje","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gilmar Pereira da Cruz","family":"J\u00fanior","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rafael","family":"Fernandes","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Victor","family":"Miranda","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Levi Welington de Resende","family":"Filho","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jac\u00f3","family":"Domingues","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Filipe","family":"Rocha","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Frederico Luiz Martins","family":"de Sousa","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luiz Guilherme Dias","family":"de Barros","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Erickson R.","family":"Nascimento","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Douglas G.","family":"Macharet","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gustavo","family":"Pessin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gustavo M.","family":"Freitas","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,3,25]]},"reference":[{"key":"1321_CR1","unstructured":"Booz, A.: Unearthing the subterranean environment. https:\/\/www.subtchallenge.com\/ (2018)"},{"key":"1321_CR2","doi-asserted-by":"crossref","unstructured":"Murphy, R.R.: Disaster robotics (2014)","DOI":"10.7551\/mitpress\/9407.001.0001"},{"key":"1321_CR3","doi-asserted-by":"crossref","unstructured":"Azpurua, H., Rocha, F., Garcia, G., Santos, A.S., Cota, E., Barros, L.G., Thiago, A.S., Gustavo P., Gustavo M.F.: EspeleoRob\u00f4 - a robotic device to inspect confined environments. In: 2019 19th Int. Conf. on Advanced Robotics (ICAR), IEEE (2019)","DOI":"10.1109\/ICAR46387.2019.8981627"},{"issue":"7","key":"1321_CR4","doi-asserted-by":"publisher","first-page":"616","DOI":"10.1177\/02783640122067570","volume":"20","author":"U Saranli","year":"2001","unstructured":"Saranli, U., Buehler, M., Koditschek, D.E.: Rhex: A simple and highly mobile hexapod robot. Int. J. Robot. Res. 20(7), 616\u2013631 (2001)","journal-title":"Int. J. Robot. Res."},{"key":"1321_CR5","unstructured":"Freitas, G.M., Rocha, F.A.S., Torre, M.P., Frederico, F.J.A., Ramos, V.R., Nogueira, L.E.C., Santos, A.S., Cota, E., Miola, W., Reis, M.A.D., Costa, B.L.S., Ledezma, L.C.M., Evangelista, R.P., Alcantara, P.X., Lima, R.T., De Souza, T.P., Brandi, I.V., Araujo, R.N., Gomes, M.F.M., Garcia, G.C.: Multi-terrain inspection robotic device and methods for configuring and guiding the same - pct\/br2018\/050025 (2018)"},{"key":"1321_CR6","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA Workshop, vol. 3, pp. 5. Kobe (2009)"},{"key":"1321_CR7","unstructured":"RocketM Datasheet: Ubiquiti Networks Inc. https:\/\/dl.ubnt.com\/datasheets\/rocketm\/RocketM_DS.pdf (2015)"},{"key":"1321_CR8","unstructured":"Antena m\u00f3vel ASA-900CI: ARS Eletr\u00f4nica Industrial Ltda. http:\/\/www.arseletronica.com.br\/fileuploader\/download\/download\/?d=0&file=custom%2Fupload%2FFile-1562681992.pdf (2018)"},{"key":"1321_CR9","unstructured":"WiFi for Industrial Internet of Things \u2013 Reseiwe: RESEIWE A\/S, https:\/\/reseiwe.com\/wifi-for-industrial-internet-of-things-2\/ (2017)"},{"key":"1321_CR10","doi-asserted-by":"crossref","unstructured":"Murphy, R.R., Tadokoro, S., Kleiner, A.: Disaster robotics. In: Springer Handbook of Robotics, pp. 1577\u20131604. Springer (2016)","DOI":"10.1007\/978-3-319-32552-1_60"},{"issue":"6","key":"1321_CR11","doi-asserted-by":"publisher","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","volume":"32","author":"C Cadena","year":"2016","unstructured":"Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., Leonard, J.J.: Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age. IEEE Trans. Robot. 32(6), 1309\u20131332 (2016)","journal-title":"IEEE Trans. Robot."},{"key":"1321_CR12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1","volume-title":"Springer handbook of robotics","author":"B Siciliano","year":"2016","unstructured":"Siciliano, B., Khatib, O.: Springer handbook of robotics. Springer, Berlin (2016)"},{"issue":"2","key":"1321_CR13","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1109\/MRA.2006.1638022","volume":"13","author":"H Durrant-Whyte","year":"2006","unstructured":"Durrant-Whyte, H., Bailey, T.: Simultaneous localization and mapping: part i. IEEE Robot. Automat. Mag. 13(2), 99\u2013110 (2006)","journal-title":"IEEE Robot. Automat. Mag."},{"key":"1321_CR14","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1007\/s10462-012-9365-8","volume":"43","author":"J Fuentes-Pacheco","year":"2015","unstructured":"Fuentes-Pacheco, J., Ascencio, J., Rendon-Mancha, J.: Visual simultaneous localization and mapping: A survey. Artif. Intell. Rev. 43, 11 (2015)","journal-title":"Artif. Intell. Rev."},{"key":"1321_CR15","doi-asserted-by":"crossref","unstructured":"Filipenko, M., Afanasyev, I.: Comparison of various slam systems for mobile robot in an indoor environment. In: Int. Conf. on Intelligent Systems (IS), pp. 400\u2013407. IEEE (2018)","DOI":"10.1109\/IS.2018.8710464"},{"key":"1321_CR16","doi-asserted-by":"crossref","unstructured":"Hess, W., Kohler, D., Rapp, H., Andor, D.: Real-time loop closure in 2d lidar slam. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1271\u20131278. IEEE (2016)","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"1321_CR17","doi-asserted-by":"crossref","unstructured":"Droeschel, D., Behnke, S.: Efficient continuous-time slam for 3d lidar-based online mapping. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 1\u20139. IEEE (2018)","DOI":"10.1109\/ICRA.2018.8461000"},{"key":"1321_CR18","doi-asserted-by":"crossref","unstructured":"Engel, J., Sch\u00f6ps, T., Cremers, D.: Lsd-slam: Large-scale direct monocular slam. In: European Conf. on Computer Vision, pp 834\u2013849, Springer (2014)","DOI":"10.1007\/978-3-319-10605-2_54"},{"issue":"5","key":"1321_CR19","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE Trans. Robot. 31(5), 1147\u20131163 (2015)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"1321_CR20","doi-asserted-by":"publisher","first-page":"416","DOI":"10.1002\/rob.21831","volume":"36","author":"M Labb\u00e9","year":"2019","unstructured":"Labb\u00e9, M., Michaud, F.: Rtab-map as an open-source lidar and visual simultaneous localization and mapping library for large-scale and long-term online operation. J. Field Robot. 36(2), 416\u2013446 (2019)","journal-title":"J. Field Robot."},{"issue":"3","key":"1321_CR21","doi-asserted-by":"publisher","first-page":"734","DOI":"10.1109\/TRO.2013.2242375","volume":"29","author":"M Labbe","year":"2013","unstructured":"Labbe, M., Michaud, F.: Appearance-based loop closure detection for online large-scale and long-term operation. IEEE Trans. Robot. 29(3), 734\u2013745 (2013)","journal-title":"IEEE Trans. Robot."},{"key":"1321_CR22","doi-asserted-by":"crossref","unstructured":"Rezende, A.M.C., J\u00fanior, G.P.C., Fernandes, R., Miranda, V.R.F., Azp\u00farua, H., Pessin, G., Gustavo, M.F.: Indoor localization and navigation control strategies for a mobile robot designed to inspect confined environments. In: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), pp. 1427\u20131433. IEEE (2020)","DOI":"10.1109\/CASE48305.2020.9217005"},{"key":"1321_CR23","doi-asserted-by":"crossref","unstructured":"Yagfarov, R., Ivanou, M., Afanasyev, I.: Map comparison of lidar-based 2d slam algorithms using precise ground truth. In: 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1979\u20131983. IEEE (2018)","DOI":"10.1109\/ICARCV.2018.8581131"},{"issue":"2","key":"1321_CR24","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1007\/s10514-016-9548-2","volume":"41","author":"Z Ji","year":"2017","unstructured":"Ji, Z., Singh, S.: Low-drift and real-time lidar odometry and mapping. Auton. Robot. 41(2), 401\u2013416 (2017)","journal-title":"Auton. Robot."},{"issue":"2","key":"1321_CR25","doi-asserted-by":"publisher","first-page":"172988141984153","DOI":"10.1177\/1729881419841532","volume":"16","author":"K Koide","year":"2019","unstructured":"Koide, K., Miura, J., Menegatti, E.: A portable three-dimensional lidar-based system for long-term and wide-area people behavior measurement. Int. J. Adv. Robot. Syst. 16(2), 1729881419841532 (2019)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"1321_CR26","doi-asserted-by":"crossref","unstructured":"Tixiao Shan, Brendan Englot: Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain. In: 2018 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp 4758\u2013476., IEEE (2018)","DOI":"10.1109\/IROS.2018.8594299"},{"key":"1321_CR27","unstructured":"Wolf, P.R., Dewitt, B.A., Wilkinson, B.E.: Elements of photogrammetry with applications in GIS, 4th ed. 696 pp. ISBN 9780071761123 (2014)"},{"key":"1321_CR28","doi-asserted-by":"crossref","unstructured":"Low, D.G.: Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision, 91\u2013110. https:\/\/www.cs.ubc.ca\/~lowe\/papers\/ijcv04.pdf (2004)","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"issue":"3","key":"1321_CR29","doi-asserted-by":"publisher","first-page":"346","DOI":"10.1016\/j.cviu.2007.09.014","volume":"110","author":"H Bay","year":"2008","unstructured":"Bay, H., Ess, A., Tuytelaars, T., Gool, L.V.: Speeded-up robust features (surf). Comput. Vis. Image Underst. 110(3), 346\u2013359 (2008)","journal-title":"Comput. Vis. Image Underst."},{"key":"1321_CR30","doi-asserted-by":"crossref","unstructured":"Wu, C., Agarwal, S., Curless, B., Seitz, S.M.: Multicore bundle adjustment. In: CVPR 2011, pp 3057\u2013306. IEEE (2011)","DOI":"10.1109\/CVPR.2011.5995552"},{"key":"1321_CR31","unstructured":"Agarwal, S., Mierle, K., et al.: Ceres solver. http:\/\/ceres-solver.org"},{"key":"1321_CR32","doi-asserted-by":"crossref","unstructured":"Nister, D., Stewenius, H.: Scalable recognition with a vocabulary tree. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201906), vol. 2, pp 2161\u20132168 (2006)","DOI":"10.1109\/CVPR.2006.264"},{"key":"1321_CR33","doi-asserted-by":"crossref","unstructured":"Moulon, P., Monasse, P., Marlet, R.: Global fusion of relative motions for robust, accurate and scalable structure from motion. In: 2013 IEEE International Conference on Computer Vision, pp. 3248\u20133255 (2013)","DOI":"10.1109\/ICCV.2013.403"},{"key":"1321_CR34","doi-asserted-by":"crossref","unstructured":"Hirschmuller, H.: Accurate and efficient stereo processing by semi-global matching and mutual information. In: 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201905), vol 2, pp 807\u2013814 (2005)","DOI":"10.1109\/CVPR.2005.56"},{"key":"1321_CR35","doi-asserted-by":"crossref","unstructured":"Jancosek, M., Pajdla, T.: Exploiting visibility information in surface reconstruction to preserve weakly supported surfaces. International Scholarly Research Notices, 2014: 1\u201320. ISSN 2356-7872 (2014)","DOI":"10.1155\/2014\/798595"},{"key":"1321_CR36","unstructured":"Bruno, L., Sylvain, P., Nicolas, R., Maillot, J.: Least squares conformal maps for automatic texture atlas generation. In: Proceedings of the 29th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH \u201902, pp. 362\u2013371 (2002)"},{"key":"1321_CR37","unstructured":"AliceVision: Meshroom: A 3D reconstruction software. https:\/\/github.com\/alicevision\/meshroom (2018)"},{"key":"1321_CR38","doi-asserted-by":"crossref","unstructured":"Moulon, P., Monasse, P., Renaud, M.: Adaptive structure from motion with a contrario model estimation. In: Proceedings of the Asian Computer Vision Conference (ACCV 2012), pp 257\u2013270. Springer, Berlin (2012)","DOI":"10.1007\/978-3-642-37447-0_20"},{"issue":"1-3","key":"1321_CR39","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/S0925-7721(01)00047-5","volume":"22","author":"JR Shewchuk","year":"2002","unstructured":"Shewchuk, J.R.: Delaunay refinement algorithms for triangular mesh generation. Comput. Geom. 22(1-3), 21\u201374 (2002)","journal-title":"Comput. Geom."},{"key":"1321_CR40","unstructured":"Shekhar, R., Fayyad, E., Yagel, R., Cornhill, J.F.: Octree-based decimation of marching cubes surfaces. In: Proceedings of the 7th conference on Visualization\u201996, pp. 335\u2013ff IEEE Computer Society Press (1996)"},{"key":"1321_CR41","first-page":"256","volume":"7","author":"M Kazhdan","year":"2007","unstructured":"Kazhdan, M., Klein, A., Dalal, K., Hoppe, H.: Unconstrained isosurface extraction on arbitrary octrees. Symp. Geom. Process. 7, 256\u2013263 (2007)","journal-title":"Symp. Geom. Process."},{"key":"1321_CR42","doi-asserted-by":"crossref","unstructured":"Carr, J.C., Beatson, R.K., McCallum, B.C., Fright, W.R., McLennan, T.J., Mitchell, T.J.: Smooth surface reconstruction from noisy range. In: Proceedings of the 1st international conference on Computer graphics and interactive techniques in Australasia and South East Asia, pp 119\u2013ff ACM (2003)","DOI":"10.1145\/604471.604495"},{"issue":"3","key":"1321_CR43","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1145\/2487228.2487237","volume":"32","author":"M Kazhdan","year":"2013","unstructured":"Kazhdan, M., Hoppe, H.: Screened poisson surface reconstruction. ACM Trans. Graph. (TOG) 32(3), 29 (2013)","journal-title":"ACM Trans. Graph. (TOG)"},{"key":"1321_CR44","doi-asserted-by":"crossref","unstructured":"Hoppe, H., DeRose, T., Duchamp, T., McDonald, J., Stuetzle, W.: Surface reconstruction from unorganized points. 26, ACM (1992)","DOI":"10.1145\/142920.134011"},{"key":"1321_CR45","doi-asserted-by":"crossref","unstructured":"Fabri, A., Sylvain, P.: CGAL The Computational geometry algorithms library. In: Proceedings of the 17th ACM SIGSPATIAL international conference on advances in geographic information systems, pp. 538\u201353. ACM (2009)","DOI":"10.1145\/1653771.1653865"},{"key":"1321_CR46","unstructured":"Liepa, P.: Filling holes in meshes. In: Proceedings of the 2003 Eurographics\/ACM SIGGRAPH symposium on geometry processing, pp. 200\u2013205. Eurographics Association (2003)"},{"key":"1321_CR47","doi-asserted-by":"crossref","unstructured":"Shepard, D.: A two-dimensional interpolation function for irregularly-spaced data. In: Proceedings of the 1968 23rd ACM national conference, pp. 517\u2013524. ACM (1968)","DOI":"10.1145\/800186.810616"},{"issue":"6","key":"1321_CR48","doi-asserted-by":"publisher","first-page":"311","DOI":"10.1145\/360825.360839","volume":"18","author":"BT Phong","year":"1975","unstructured":"Phong, B.T.: Illumination for computer generated pictures. Commun. ACM 18(6), 311\u2013317 (1975)","journal-title":"Commun. ACM"},{"key":"1321_CR49","doi-asserted-by":"crossref","unstructured":"Macenski, S., Martin, F., White, R., Clavero, J.G.: The marathon 2: A navigation system. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2020)","DOI":"10.1109\/IROS45743.2020.9341207"},{"issue":"7","key":"1321_CR50","doi-asserted-by":"publisher","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30(7), 846\u2013894 (2011). https:\/\/doi.org\/10.1177\/0278364911406761","journal-title":"Int. J. Robot. Res."},{"key":"1321_CR51","doi-asserted-by":"crossref","unstructured":"Miranda, V.R.F., Mozelli, L.A., Neto, A.A., Freitas, G.M.: On the robust longitudinal trajectory tracking for load transportation vehicles on uneven terrains. In: 2019 19th International Conference on Advanced Robotics (ICAR), pp 320\u2013325. IEEE (2019)","DOI":"10.1109\/ICAR46387.2019.8981641"},{"key":"1321_CR52","doi-asserted-by":"crossref","unstructured":"Sousa, R.L.S., Forte, M.D.N., Nogueira, F.G., Torrico, B.C.: Trajectory tracking control of a nonholonomic mobile robot with differential drive. In: IEEE Biennial Congress of Argentina (ARGENCON), pp. 1\u20136. IEEE, p 2016 (2016)","DOI":"10.1109\/ARGENCON.2016.7585356"},{"issue":"12","key":"1321_CR53","doi-asserted-by":"publisher","first-page":"2366","DOI":"10.2514\/1.G001060","volume":"38","author":"N Cho","year":"2015","unstructured":"Cho, N., Kim, Y., Park, S.: Three-dimensional nonlinear differential geometric path-following guidance law. J. Guid. Control Dyn. 38(12), 2366\u20132385 (2015). https:\/\/doi.org\/10.2514\/1.G001060","journal-title":"J. Guid. Control Dyn."},{"issue":"4","key":"1321_CR54","doi-asserted-by":"publisher","first-page":"647","DOI":"10.1109\/TRO.2010.2053077","volume":"26","author":"VM Gon\u00e7alves","year":"2010","unstructured":"Gon\u00e7alves, V.M., Pimenta, L.C.A., Maia, C.A., Dutra, B.C.O., Pereira, G.A.S.: Vector fields for robot navigation along time-varying curves in n-dimensions. IEEE Trans. Robot. 26(4), 647\u2013659 (2010). ISSN 1552-3098","journal-title":"IEEE Trans. Robot."},{"key":"1321_CR55","doi-asserted-by":"crossref","unstructured":"Rezende, A.M.C., Junior\u0301, G.P.C., Fernandes, R., Miranda, V.R.F., Azp\u00farua, H., Pessin, G., Freitas, G.M.: Indoor localization and navigation control strategies for a mobile robot designed to inspect confined environments. In: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), pp. 1427\u20131433 (2020)","DOI":"10.1109\/CASE48305.2020.9217005"},{"key":"1321_CR56","doi-asserted-by":"crossref","unstructured":"Santos, A.S., Azp\u00farua, H.I.P., Pessin, G., Freitas, G.M.: Path planning for mobile robots on rough terrain. In: 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and Workshop on Robotics in Education (WRE), pp. 265\u2013270. IEEE, p 2018 (2018)","DOI":"10.1109\/LARS\/SBR\/WRE.2018.00056"},{"key":"1321_CR57","doi-asserted-by":"crossref","unstructured":"Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: modelling, planning and control. Springer Science & Business Media (2010)","DOI":"10.1007\/978-1-84628-642-1"},{"key":"1321_CR58","unstructured":"Chaimowicz, L., Michael, N., Kumar, V.: Controlling swarms of robots using interpolated implicit functions. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. pp. 2487\u20132492 (2005)"},{"issue":"2","key":"1321_CR59","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1007\/s10514-017-9662-9","volume":"42","author":"H Carrillo","year":"2018","unstructured":"Carrillo, H., Dames, P., Kumar, V., Castellanos, J.A.: Autonomous robotic exploration using a utility function based on r\u00e9nyi\u2019s general theory of entropy. Auton. Robot. 42(2), 235\u2013256 (2018)","journal-title":"Auton. Robot."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01321-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01321-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01321-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,26]],"date-time":"2024-08-26T21:19:50Z","timestamp":1724707190000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01321-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,3,25]]},"references-count":59,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2021,4]]}},"alternative-id":["1321"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01321-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,3,25]]},"assertion":[{"value":"2 July 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 January 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 March 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"69"}}