{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T00:09:54Z","timestamp":1771632594593,"version":"3.50.1"},"reference-count":16,"publisher":"Elsevier BV","issue":"2-3","license":[{"start":{"date-parts":[[2002,8,1]],"date-time":"2002-08-01T00:00:00Z","timestamp":1028160000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2002,8]]},"DOI":"10.1016\/s0921-8890(02)00234-8","type":"journal-article","created":{"date-parts":[[2002,8,26]],"date-time":"2002-08-26T19:38:41Z","timestamp":1030390721000},"page":"91-97","source":"Crossref","is-referenced-by-count":43,"title":["Augmenting topology-based maps with geometric information"],"prefix":"10.1016","volume":"40","author":[{"given":"Elisabetta","family":"Fabrizi","sequence":"first","affiliation":[]},{"given":"Alessandro","family":"Saffiotti","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"key":"10.1016\/S0921-8890(02)00234-8_BIB1","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/S0921-8890(05)80031-4","article-title":"Integrating behavioral, perceptual and world knowledge in reactive navigation","volume":"6","author":"Arkin","year":"1990","journal-title":"Robotics and Autonomous Systems"},{"issue":"9","key":"10.1016\/S0921-8890(02)00234-8_BIB2","doi-asserted-by":"crossref","first-page":"1341","DOI":"10.1016\/0031-3203(94)00312-A","article-title":"Fuzzy mathematical morphologies: A comparative study","volume":"28","author":"Bloch","year":"1995","journal-title":"Pattern Recognition"},{"issue":"6","key":"10.1016\/S0921-8890(02)00234-8_BIB3","doi-asserted-by":"crossref","first-page":"859","DOI":"10.1109\/70.105395","article-title":"Robotic exploration as graph construction","volume":"7","author":"Dudek","year":"1991","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB4","doi-asserted-by":"crossref","unstructured":"E. Fabrizi, A. Saffiotti, Extracting topology-based maps from gridmaps, in: Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, 2000, pp. 2972\u20132978. http:\/\/www.aass.oru.se\/\u223casaffio\/.","DOI":"10.1109\/ROBOT.2000.846479"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB5","doi-asserted-by":"crossref","unstructured":"E. Fabrizi, G. Oriolo, G. Ulivi, Accurate map building via fusion of laser and ultrasonic range measures, in: D. Driankov, A. Saffiotti (Eds.), Fuzzy Logic Techniques for Autonomous Vehicle Navigation, Springer, Berlin, 2001, pp. 257\u2013280.","DOI":"10.1007\/978-3-7908-1835-2_11"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB6","unstructured":"D. Kortenkamp, T. Weymouth, Topological mapping for mobile robots using combination of sonar and vision sensing, in: Proceedings of the AAAI Conference, Seattle, WA, 1994, pp. 979\u2013984."},{"key":"10.1016\/S0921-8890(02)00234-8_BIB7","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/0921-8890(91)90014-C","article-title":"A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations","volume":"8","author":"Kuipers","year":"1991","journal-title":"Robotics and Autonomous Systems"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB8","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1002\/(SICI)1097-4563(199703)14:3<179::AID-ROB3>3.0.CO;2-O","article-title":"Fuzzy maps: A new tool for mobile robot perception and planning","volume":"14","author":"Oriolo","year":"1997","journal-title":"Journal of Robotic Systems"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB9","unstructured":"A. Papoulis, Probability, Random Variables and Stochastic Processes, McGraw-Hill, New York, 1965."},{"issue":"1","key":"10.1016\/S0921-8890(02)00234-8_BIB10","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/S0019-9958(79)90353-X","article-title":"Fuzzy digital topology","volume":"40","author":"Rosenfeld","year":"1979","journal-title":"Information Control"},{"issue":"5","key":"10.1016\/S0921-8890(02)00234-8_BIB11","doi-asserted-by":"crossref","first-page":"474","DOI":"10.1109\/3468.784174","article-title":"Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation","volume":"29","author":"Ryu","year":"1999","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics A"},{"issue":"1\u20132","key":"10.1016\/S0921-8890(02)00234-8_BIB12","doi-asserted-by":"crossref","first-page":"481","DOI":"10.1016\/0004-3702(94)00088-I","article-title":"A multivalued-logic approach to integrating planning and control","volume":"76","author":"Saffiotti","year":"1995","journal-title":"Artificial Intelligence"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB13","unstructured":"A. Saffiotti, Thinking Cap. www.aass.oru.se\/\u223casaffio\/Software\/TC\/."},{"key":"10.1016\/S0921-8890(02)00234-8_BIB14","doi-asserted-by":"crossref","unstructured":"H. Surmann, L. Peters, The uses of fuzzy control for the autonomous robot Moria, in: D. Driankov, A. Saffiotti (Eds.), Fuzzy Logic Techniques for Autonomous Vehicle Navigation, Springer, Berlin, 2001, pp. 343\u2013366.","DOI":"10.1007\/978-3-7908-1835-2_14"},{"key":"10.1016\/S0921-8890(02)00234-8_BIB15","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1016\/S0004-3702(97)00078-7","article-title":"Learning metric-topological maps for indoor mobile robot navigation","volume":"99","author":"Thrun","year":"1998","journal-title":"Artificial Intelligence"},{"issue":"6","key":"10.1016\/S0921-8890(02)00234-8_BIB16","doi-asserted-by":"crossref","first-page":"583","DOI":"10.1109\/34.87344","article-title":"Watersheds in digital spaces: an efficient algorithm based on immersion simulations","volume":"13","author":"Vincent","year":"1991","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889002002348?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889002002348?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2019,4,10]],"date-time":"2019-04-10T12:23:35Z","timestamp":1554899015000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889002002348"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,8]]},"references-count":16,"journal-issue":{"issue":"2-3","published-print":{"date-parts":[[2002,8]]}},"alternative-id":["S0921889002002348"],"URL":"https:\/\/doi.org\/10.1016\/s0921-8890(02)00234-8","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2002,8]]}}}