{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T10:27:28Z","timestamp":1774434448846,"version":"3.50.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2026,1,7]],"date-time":"2026-01-07T00:00:00Z","timestamp":1767744000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2026,1,28]],"date-time":"2026-01-28T00:00:00Z","timestamp":1769558400000},"content-version":"vor","delay-in-days":21,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["12472216"],"award-info":[{"award-number":["12472216"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["12202159"],"award-info":[{"award-number":["12202159"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Complex Intell. Syst."],"published-print":{"date-parts":[[2026,3]]},"DOI":"10.1007\/s40747-025-02214-y","type":"journal-article","created":{"date-parts":[[2026,1,7]],"date-time":"2026-01-07T15:06:59Z","timestamp":1767798419000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Multi-agent collaborative incremental implicit mapping based on topological communication protocol"],"prefix":"10.1007","volume":"12","author":[{"given":"Pan","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yilin","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8615-868X","authenticated-orcid":false,"given":"Zhigong","family":"Song","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2026,1,7]]},"reference":[{"issue":"3","key":"2214_CR1","doi-asserted-by":"publisher","DOI":"10.3390\/rs11030287","volume":"11","author":"F Nex","year":"2019","unstructured":"Nex F, Duarte D, Steenbeek A et al (2019) Towards real-time building damage mapping with low-cost UAV solutions. Remote Sens 11(3):287","journal-title":"Remote Sens"},{"issue":"1","key":"2214_CR2","doi-asserted-by":"publisher","first-page":"557","DOI":"10.1109\/TIV.2022.3185303","volume":"8","author":"O Natan","year":"2022","unstructured":"Natan O, Miura J (2022) End-to-end autonomous driving with semantic depth cloud mapping and multi-agent. IEEE Trans Intell Veh 8(1):557\u2013571","journal-title":"IEEE Trans Intell Veh"},{"issue":"4","key":"2214_CR3","doi-asserted-by":"publisher","first-page":"9175","DOI":"10.1109\/LRA.2022.3191204","volume":"7","author":"Y Chang","year":"2022","unstructured":"Chang Y, Ebadi K, Denniston CE et al (2022) LAMP 2.0: a robust multi-robot SLAM system for operation in challenging large-scale underground environments. IEEE Robot Autom Lett 7(4):9175\u20139182","journal-title":"IEEE Robot Autom Lett"},{"issue":"4","key":"2214_CR4","doi-asserted-by":"publisher","first-page":"2623","DOI":"10.1109\/TRO.2023.3258641","volume":"39","author":"G Hardouin","year":"2023","unstructured":"Hardouin G, Moras J, Morbidi F et al (2023) A multirobot system for 3-d surface reconstruction with centralized and distributed architectures. IEEE Trans Robot 39(4):2623\u20132638","journal-title":"IEEE Trans Robot"},{"issue":"3","key":"2214_CR5","doi-asserted-by":"publisher","first-page":"657","DOI":"10.1109\/TRO.2020.2964138","volume":"36","author":"Y Zhao","year":"2020","unstructured":"Zhao Y, Vela PA (2020) Good feature matching: toward accurate, robust vo\/vslam with low latency. IEEE Trans Robot 36(3):657\u2013675","journal-title":"IEEE Trans Robot"},{"key":"2214_CR6","first-page":"1","volume":"74","author":"H Zhang","year":"2025","unstructured":"Zhang H, Huo J, Huang Y et al (2025) Real-time dynamic visual-inertial SLAM and object tracking based on lightweight deep feature extraction matching [J]. IEEE Trans Instrum Meas 74:1\u201322","journal-title":"IEEE Trans Instrum Meas"},{"issue":"1","key":"2214_CR7","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/TRO.2022.3199087","volume":"39","author":"H Yin","year":"2022","unstructured":"Yin H, Li S, Tao Y et al (2022) Dynam-SLAM: an accurate, robust stereo visual-inertial SLAM method in dynamic environments [J]. IEEE Trans Rob 39(1):289\u2013308","journal-title":"IEEE Trans Rob"},{"issue":"3","key":"2214_CR8","doi-asserted-by":"publisher","first-page":"1823","DOI":"10.1007\/s40747-021-00323-y","volume":"8","author":"X Dong","year":"2022","unstructured":"Dong X, Cheng L, Peng H et al (2022) FSD-SLAM: a fast semi-direct SLAM algorithm. Complex Intell Syst 8(3):1823\u20131834","journal-title":"Complex Intell Syst"},{"issue":"4","key":"2214_CR9","doi-asserted-by":"publisher","first-page":"2039","DOI":"10.1109\/TRO.2021.3139964","volume":"38","author":"JH Jung","year":"2022","unstructured":"Jung JH, Choe Y, Park CG (2022) Photometric visual-inertial navigation with uncertainty-aware ensembles. IEEE Trans Robot 38(4):2039\u20132052","journal-title":"IEEE Trans Robot"},{"key":"2214_CR10","doi-asserted-by":"publisher","first-page":"117531","DOI":"10.1016\/j.measurement.2025.117531","volume":"253","author":"Y Hu","year":"2025","unstructured":"Hu Y, Zhang Z, Zhang F et al (2025) A collaborative SLAM method based on cardinality balanced multi-Bernoulli filter with adaptive information control [J]. Measurement 253:117531","journal-title":"Measurement"},{"key":"2214_CR11","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1016\/j.isprsjprs.2024.08.007","volume":"217","author":"X Lin","year":"2024","unstructured":"Lin X, Yang X, Yao W et al (2024) Graph-based adaptive weighted fusion SLAM using multimodal data in complex underground spaces. ISPRS J Photogramm Remote Sens 217:101\u2013119","journal-title":"ISPRS J Photogramm Remote Sens"},{"issue":"1","key":"2214_CR12","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1145\/3503250","volume":"65","author":"B Mildenhall","year":"2021","unstructured":"Mildenhall B, Srinivasan PP, Tancik M et al (2021) Nerf: representing scenes as neural radiance fields for view synthesis. Commun ACM 65(1):99\u2013106","journal-title":"Commun ACM"},{"key":"2214_CR13","doi-asserted-by":"crossref","unstructured":"Sucar E, Liu S, Ortiz J et al (2021) imap: Implicit mapping and positioning in real-time [C]. In: Proceedings of the IEEE\/CVF international conference on computer vision, pp 6229\u20136238","DOI":"10.1109\/ICCV48922.2021.00617"},{"key":"2214_CR14","doi-asserted-by":"crossref","unstructured":"Zhu Z, Peng S, Larsson V et al (2022) Nice-slam: neural implicit scalable encoding for slam [C]. In: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, pp 12786\u201312796","DOI":"10.1109\/CVPR52688.2022.01245"},{"issue":"10","key":"2214_CR15","doi-asserted-by":"publisher","first-page":"6787","DOI":"10.1109\/LRA.2023.3313051","volume":"8","author":"C Jiang","year":"2023","unstructured":"Jiang C, Zhang H, Liu P et al (2023) H2-mapping: real-time dense mapping using hierarchical hybrid representation [J]. IEEE Robot Autom Lett 8(10):6787\u20136794","journal-title":"IEEE Robot Autom Lett"},{"key":"2214_CR16","doi-asserted-by":"publisher","first-page":"7129","DOI":"10.1109\/TVCG.2024.3456201","volume":"30","author":"H Zhai","year":"2024","unstructured":"Zhai H, Huang G, Hu Q et al (2024) Nis-slam: neural implicit semantic rgb-d slam for 3d consistent scene understanding [J]. IEEE Trans Vis Comput Graph 30:7129\u20137139","journal-title":"IEEE Trans Vis Comput Graph"},{"key":"2214_CR17","doi-asserted-by":"crossref","unstructured":"Johari MM, Carta C, Fleuret F (2023) Eslam: efficient dense slam system based on hybrid representation of signed distance fields [C]. In: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, pp 17408\u201317419","DOI":"10.1109\/CVPR52729.2023.01670"},{"key":"2214_CR18","doi-asserted-by":"publisher","first-page":"21866","DOI":"10.1109\/JIOT.2025.3548958","volume":"12","author":"X Liu","year":"2025","unstructured":"Liu X, Wen S, Liu H et al (2025) CPL-SLAM: centralized collaborative multi-robot visual-inertial SLAM using point-and-line features [J]. IEEE Internet Things J 12:21866\u201321875","journal-title":"IEEE Internet Things J"},{"key":"2214_CR19","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2024.3398100","author":"C Zuo","year":"2024","unstructured":"Zuo C, Feng Z, Xiao X (2024) CCMD-SLAM: communication-efficient centralized multi-robot dense SLAM with real-time point cloud maintenance. IEEE Trans Instrum Meas. https:\/\/doi.org\/10.1109\/TIM.2024.3398100","journal-title":"IEEE Trans Instrum Meas"},{"issue":"1","key":"2214_CR20","doi-asserted-by":"publisher","first-page":"475","DOI":"10.1109\/LRA.2023.3333742","volume":"9","author":"PY Lajoie","year":"2023","unstructured":"Lajoie PY, Beltrame G (2023) Swarm-slam: sparse decentralized collaborative simultaneous localization and mapping framework for multi-robot systems. IEEE Robot Autom Lett 9(1):475\u2013482","journal-title":"IEEE Robot Autom Lett"},{"key":"2214_CR21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3474551","author":"M Asadi","year":"2024","unstructured":"Asadi M, Zareinia K, Saeedi S (2024) Di-NeRF: distributed NeRF for collaborative learning with relative pose refinement. IEEE Robot Autom Lett. https:\/\/doi.org\/10.1109\/LRA.2024.3474551","journal-title":"IEEE Robot Autom Lett"},{"issue":"2","key":"2214_CR22","doi-asserted-by":"publisher","first-page":"1896","DOI":"10.1109\/LRA.2022.3142402","volume":"7","author":"J Yu","year":"2022","unstructured":"Yu J, Vincent JA, Schwager M (2022) DiNNO: distributed neural network optimization for multi-robot collaborative learning. IEEE Robot Autom Lett 7(2):1896\u20131903","journal-title":"IEEE Robot Autom Lett"},{"key":"2214_CR23","doi-asserted-by":"publisher","DOI":"10.1109\/TCE.2025.3551135","author":"Z Wu","year":"2025","unstructured":"Wu Z, Ma X, Chang F et al (2025) Enhanced sensing for automotive mmwave radar: super-resolution range and angle estimation with coherent extension and advanced iaa. IEEE Trans Consum Electron. https:\/\/doi.org\/10.1109\/TCE.2025.3551135","journal-title":"IEEE Trans Consum Electron"},{"key":"2214_CR24","doi-asserted-by":"publisher","first-page":"11875","DOI":"10.1109\/TNNLS.2024.3477248","volume":"36","author":"R Zhang","year":"2024","unstructured":"Zhang R, Huang Y, Lou Y et al (2024) Synergistic attention-guided cascaded graph diffusion model for complementarity determining region synthesis [J]. IEEE Trans Neural Netw Learn Syst 36:11875\u201311886","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"2214_CR25","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijepes.2022.108182","volume":"142","author":"L Cheng","year":"2022","unstructured":"Cheng L, Chen Y, Liu G (2022) 2PnS-EG: a general two-population n-strategy evolutionary game for strategic long-term bidding in a deregulated market under different market clearing mechanisms. Int J Electr Power Energy Syst 142:108182","journal-title":"Int J Electr Power Energy Syst"},{"key":"2214_CR26","doi-asserted-by":"publisher","DOI":"10.1016\/j.jclepro.2025.145682","author":"L Cheng","year":"2025","unstructured":"Cheng L, Peng P, Huang P et al (2025) Leveraging evolutionary game theory for cleaner production: strategic insights for sustainable energy markets, electric vehicles, and carbon trading. J Clean Prod. https:\/\/doi.org\/10.1016\/j.jclepro.2025.145682","journal-title":"J Clean Prod"},{"key":"2214_CR27","doi-asserted-by":"crossref","unstructured":"Deng J, Wu Q, Chen X et al (2023) Nerf-loam: neural implicit representation for large-scale incremental lidar odometry and mapping [C]. In: Proceedings of the IEEE\/CVF international conference on computer vision, pp 8218\u20138227","DOI":"10.1109\/ICCV51070.2023.00755"},{"key":"2214_CR28","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2024.3395479","author":"H Liu","year":"2024","unstructured":"Liu H, Huang Z, Zhu Z et al (2024) Improved consensus ADMM for cooperative motion planning of large-scale connected autonomous vehicles with limited communication. IEEE Trans Intell Veh. https:\/\/doi.org\/10.1109\/TIV.2024.3395479","journal-title":"IEEE Trans Intell Veh"},{"issue":"1","key":"2214_CR29","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1561\/2200000016","volume":"3","author":"S Boyd","year":"2011","unstructured":"Boyd S, Parikh N, Chu E et al (2011) Distributed optimization and statistical learning via the alternating direction method of multipliers [J]. Found Trends Mach Learn 3(1):1\u2013122","journal-title":"Found Trends Mach Learn"},{"key":"2214_CR30","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijepes.2025.110589","volume":"166","author":"L Cheng","year":"2025","unstructured":"Cheng L, Huang P, Zou T et al (2025) Evolutionary game-theoretical approaches for long-term strategic bidding among diverse stakeholders in large-scale and local power markets: basic concept, modelling review, and future vision. Int J Electr Power Energy Syst 166:110589","journal-title":"Int J Electr Power Energy Syst"},{"issue":"3","key":"2214_CR31","doi-asserted-by":"publisher","DOI":"10.3390\/math13030373","volume":"13","author":"L Cheng","year":"2025","unstructured":"Cheng L, Huang P, Zhang M et al (2025) Optimizing electricity markets through game-theoretical methods: strategic and policy implications for power purchasing and generation enterprises. Mathematics 13(3):373","journal-title":"Mathematics"},{"key":"2214_CR32","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2025.3526645","author":"Z Hong","year":"2025","unstructured":"Hong Z, Wang B, Duan H et al (2025) SP-SLAM: neural real-time dense SLAM with scene priors. IEEE Trans Circuits Syst Video Technol. https:\/\/doi.org\/10.1109\/TCSVT.2025.3526645","journal-title":"IEEE Trans Circuits Syst Video Technol"},{"key":"2214_CR33","doi-asserted-by":"publisher","first-page":"7618","DOI":"10.1109\/TCSVT.2025.3550871","volume":"35","author":"Z Wang","year":"2025","unstructured":"Wang Z, Zhang L, Wang H (2025) S 2 KAN-SLAM: elastic neural LiDAR SLAM with SDF submaps and Kolmogorov-Arnold networks [J]. IEEE Trans Circuits Syst Video Technol 35:7618\u20137630","journal-title":"IEEE Trans Circuits Syst Video Technol"},{"key":"2214_CR34","unstructured":"Straub J, Whelan T, Ma L et al (2019) The replica dataset: a digital replica of indoor spaces [J]. arXiv preprint arXiv:1906.05797"},{"key":"2214_CR35","doi-asserted-by":"crossref","unstructured":"Dai A, Chang A X, Savva M et al (2017) Scannet: richly-annotated 3d reconstructions of indoor scenes [C]. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp 5828\u20135839","DOI":"10.1109\/CVPR.2017.261"},{"issue":"4","key":"2214_CR36","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3072959.3054739","volume":"36","author":"A Dai","year":"2017","unstructured":"Dai A, Nie\u00dfner M, Zollh\u00f6fer M et al (2017) Bundlefusion: real-time globally consistent 3d reconstruction using on-the-fly surface reintegration. ACM Trans Graph 36(4):1","journal-title":"ACM Trans Graph"},{"key":"2214_CR37","doi-asserted-by":"crossref","unstructured":"Zhu Z, Peng S, Larsson V et al (2022) NICE-SLAM: neural implicit scalable encoding for SLAM [C]. In: 2022 IEEE\/CVF conference on computer vision and pattern recognition (CVPR). IEEE Computer Society, pp 12776\u201312786","DOI":"10.1109\/CVPR52688.2022.01245"},{"issue":"1","key":"2214_CR38","doi-asserted-by":"publisher","first-page":"409","DOI":"10.1007\/s10107-020-01487-0","volume":"187","author":"S Pu","year":"2021","unstructured":"Pu S, Nedi\u0107 A (2021) Distributed stochastic gradient tracking methods. Math Program 187(1):409\u2013457","journal-title":"Math Program"},{"key":"2214_CR39","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3379839","author":"Y Deng","year":"2024","unstructured":"Deng Y, Tang Y, Yang Y et al (2024) MACIM: multi-agent collaborative implicit mapping. IEEE Robot Autom Lett. https:\/\/doi.org\/10.1109\/LRA.2024.3379839","journal-title":"IEEE Robot Autom Lett"}],"container-title":["Complex &amp; Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40747-025-02214-y","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-025-02214-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-025-02214-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T07:55:37Z","timestamp":1774425337000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40747-025-02214-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,7]]},"references-count":39,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2026,3]]}},"alternative-id":["2214"],"URL":"https:\/\/doi.org\/10.1007\/s40747-025-02214-y","relation":{},"ISSN":["2199-4536","2198-6053"],"issn-type":[{"value":"2199-4536","type":"print"},{"value":"2198-6053","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,7]]},"assertion":[{"value":"25 July 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 December 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 January 2026","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 that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"95"}}