{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T12:04:46Z","timestamp":1770897886852,"version":"3.50.1"},"reference-count":43,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,2,21]],"date-time":"2023-02-21T00:00:00Z","timestamp":1676937600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Union\u2019s Horizon 2020 research and innovation program","award":["690008"],"award-info":[{"award-number":["690008"]}]},{"name":"European Union\u2019s Horizon 2020 research and innovation program","award":["19160"],"award-info":[{"award-number":["19160"]}]},{"name":"European Union\u2019s Horizon 2020 research and innovation program","award":["S2018\/NMT-4331"],"award-info":[{"award-number":["S2018\/NMT-4331"]}]},{"name":"EIT Raw Materials project UNEXUP","award":["690008"],"award-info":[{"award-number":["690008"]}]},{"name":"EIT Raw Materials project UNEXUP","award":["19160"],"award-info":[{"award-number":["19160"]}]},{"name":"EIT Raw Materials project UNEXUP","award":["S2018\/NMT-4331"],"award-info":[{"award-number":["S2018\/NMT-4331"]}]},{"name":"RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub","award":["690008"],"award-info":[{"award-number":["690008"]}]},{"name":"RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub","award":["19160"],"award-info":[{"award-number":["19160"]}]},{"name":"RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub","award":["S2018\/NMT-4331"],"award-info":[{"award-number":["S2018\/NMT-4331"]}]},{"name":"Programas de Actividades I+D en la Comunidad de Madrid","award":["690008"],"award-info":[{"award-number":["690008"]}]},{"name":"Programas de Actividades I+D en la Comunidad de Madrid","award":["19160"],"award-info":[{"award-number":["19160"]}]},{"name":"Programas de Actividades I+D en la Comunidad de Madrid","award":["S2018\/NMT-4331"],"award-info":[{"award-number":["S2018\/NMT-4331"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this work, we present the design, implementation, and simulation of a topology-based navigation system for the UX-series robots, a spherical underwater vehicle designed to explore and map flooded underground mines. The objective of the robot is to navigate autonomously in the 3D network of tunnels of a semi-structured but unknown environment in order to gather geoscientific data. We start from the assumption that a topological map has been generated by a low-level perception and SLAM module in the form of a labeled graph. However, the map is subject to uncertainties and reconstruction errors that the navigation system must address. First, a distance metric is defined to compute node-matching operations. This metric is then used to enable the robot to find its position on the map and navigate it. To assess the effectiveness of the proposed approach, extensive simulations have been carried out with different randomly generated topologies and various noise rates.<\/jats:p>","DOI":"10.3390\/s23052371","type":"journal-article","created":{"date-parts":[[2023,2,22]],"date-time":"2023-02-22T02:08:34Z","timestamp":1677031714000},"page":"2371","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8740-2453","authenticated-orcid":false,"given":"Claudio","family":"Rossi","sequence":"first","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adrian","family":"Caro Zapata","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8701-5701","authenticated-orcid":false,"given":"Zorana","family":"Milosevic","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4102-5899","authenticated-orcid":false,"given":"Ramon","family":"Suarez","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9498-5407","authenticated-orcid":false,"given":"Sergio","family":"Dominguez","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"36","DOI":"10.4031\/002533201788001901","article-title":"Scientific Cave Diving","volume":"35","author":"Iliffe","year":"2001","journal-title":"Mar. 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