{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:59:08Z","timestamp":1777715948087,"version":"3.51.4"},"reference-count":82,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T00:00:00Z","timestamp":1242691200000},"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":[[2010,4]]},"abstract":"<jats:p>We propose a factored approach to mobile robot map-building that handles qualitatively different types of uncertainty by combining the strengths of topological and metrical approaches. Our framework is based on a computational model of the human cognitive map; thus it allows robust navigation and communication within several different spatial ontologies. This paper focuses exclusively on the issue of map-building using the framework.<\/jats:p>\n                  <jats:p>Our approach factors the mapping problem into natural sub-goals: building a metrical representation for local small-scale spaces; finding a topological map that represents the qualitative structure of large-scale space; and (when necessary) constructing a metrical representation for large-scale space using the skeleton provided by the topological map. We describe how to abstract a symbolic description of the robot\u2019s immediate surround from local metrical models, how to combine these local symbolic models in order to build global symbolic models, and how to create a globally consistent metrical map from a topological skeleton by connecting local frames of reference.<\/jats:p>","DOI":"10.1177\/0278364909100586","type":"journal-article","created":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T22:09:33Z","timestamp":1242770973000},"page":"428-459","source":"Crossref","is-referenced-by-count":91,"title":["Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy"],"prefix":"10.1177","volume":"29","author":[{"given":"Patrick","family":"Beeson","sequence":"first","affiliation":[{"name":"Department of Computer Sciences University of Texas at Austin 1 University Station C0500 Taylor Hall 2124 Austin, TX, USA 78712-0233,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joseph","family":"Modayil","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Rochester, PO Box 270226 734 Computer Studies Bldg. 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