The DOI matches its Crossref record; 15 of the 15 references it cites were found in a registry or an index.
The Office Marathon: Robust navigation in an indoor office environment
Abstract
This paper describes a navigation system that allowed a robot to complete 26.2 miles of autonomous navigation in a real office environment. We present the methods required to achieve this level of robustness, including an efficient Voxel-based 3D mapping algorithm that explicitly models unknown space. We also provide an open-source implementation of the algorithms used, as well as simulated environments in which our results can be verified.
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Citations
Cites
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ROS: an open-source Robot Operating System
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The dynamic window approach to collision avoidance
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Design and use paradigms for gazebo, an open-source multi-robot simulator
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Algorithm for computer control of a digital plotter
Bresenham, J. E. (1965) · IBM Systems Journal · doi:10.1147/sj.41.0025 · Cited by 2,172
Junior: The Stanford entry in the Urban Challenge
Montemerlo, M., Becker, J., Bhat, S., Dahlkamp, H., Dolgov, D., Ettinger, S., Haehnel, D., Hilden, T., Hoffmann, G., Huhnke, B., et al. (2008) · Journal of Field Robotics · doi:10.1002/rob.20258 · Cited by 1,027
MINERVA: a second-generation museum tour-guide robot
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The interactive museum tour-guide robot
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KLD-Sampling: Adaptive Particle Filters
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Cited by
Robot Operating System 2: Design, architecture, and uses in the wild
Macenski, S., Foote, T., Gerkey, B., Lalancette, C., & Woodall, W. (2022) · Science Robotics · doi:10.1126/scirobotics.abm6074 · Cited by 1,585
Self-citationLayered costmaps for context-sensitive navigation
Lu, D. V., Hershberger, D., & Smart, W. D. (2014) · 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2014.6942636 · Cited by 295
Artificial Intelligence for Long-Term Robot Autonomy: A Survey
Kunze, L., Hawes, N., Duckett, T., Hanheide, M., & Krajnik, T. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2860628 · Cited by 191
A study on the deployment of a service robot in an elderly care center
Portugal, D., Alvito, P., Christodoulou, E., Samaras, G., & Dias, J. (2019) · International Journal of Social Robotics · doi:10.1007/s12369-018-0492-5 · Cited by 130
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
Francis, A., Pérez-D’Arpino, C., Li, C., Xia, F., Alahi, A., Alami, R., Bera, A., Biswas, A., Biswas, J., Chandra, R., et al. (2025) · ACM Transactions on Human-Robot Interaction · doi:10.1145/3700599 · Cited by 107
Metadata
- Authors
- Marder-Eppstein, E., Berger, E., Foote, T., Gerkey, B., & Konolige, K.
- Venue
- 2010 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2010-05
- Pages
- 300-307
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1972267259
- Cited by
- 517
- References
- 15
- FWCI
- 54.29
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: The Office Marathon: Robust navigation in an indoor office environment. https://app.cochat.ai/papers/10.1109/robot.2010.5509725
- The paper
- Marder-Eppstein, E., Berger, E., Foote, T., Gerkey, B., & Konolige, K. (2010). The Office Marathon: Robust navigation in an indoor office environment. 2010 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2010.5509725
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
