The DOI matches its Crossref record; 21 of the 21 references it cites were found in a registry or an index.
Dynamic Map Building for an Autonomous Mobile Robot
Abstract
This article presents an algorithm for autonomous map building and maintenance for a mobile robot. We believe that mobile robot navigation can be treated as a problem of tracking ge ometric features that occur naturally in the environment. We represent each feature in the map by a location estimate (the feature state vector) and two distinct measures of uncertainty: a covariance matrix to represent uncertainty in feature loca tion, and a credibility measure to represent our belief in the validity of the feature. During each position update cycle, pre dicted measurements are generated for each geometric feature in the map and compared with actual sensor observations. Suc cessful matches cause a feature's credibility to be increased. Unpredicted observations are used to initialize new geometric features, while unobserved predictions result in a geometric feature's credibility being decreased. We describe experimental results obtained with the algorithm that demonstrate successful map building using real sonar data.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
(1973) · CERN Document Server (European Organization for Nuclear Research) · Cited by 12,895
GELB, A. (1974) · CERN Document Server (European Organization for Nuclear Research) · Cited by 6,405
Pattern Classification and Scene Analysis
Thompson, M., Duda, R. O., & Hart, P. E. (1974) · Leonardo · doi:10.2307/1573081 · Cited by 4,495
Bar‐Shalom, Y. (1988) · Medical Entomology and Zoology · Cited by 3,157
Bar-Shalom, Y., Fortmann, T. E., & Cable, P. G. (1990) · The Journal of the Acoustical Society of America · doi:10.1121/1.398863 · Cited by 3,070
(2013) · Springer eBooks · Cited by 2,625
High resolution maps from wide angle sonar
Moravec, H., & Elfes, A. (2005) · Proceedings. 1985 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1985.1087316 · Cited by 1,772
Directed Sonar Sensing for Mobile Robot Navigation
Leonard, J. J., & Durrant-Whyte, H. F. (1992) · Springer eBooks · doi:10.1007/978-1-4615-3652-9 · Cited by 797
Self-citation(1983) · Springer eBooks · doi:10.1007/978-3-662-12405-5 · Cited by 760
Webster’s Ninth New Collegiate Dictionary
慈继伟 (1985) · 外语教学与研究：外国语文双月刊 · Cited by 756
Cited by
Robust Monte Carlo localization for mobile robots
Thrun, S., Fox, D., Burgard, W., & Dellaert, F. (2001) · Artificial Intelligence · doi:10.1016/s0004-3702(01)00069-8 · Cited by 1,809
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
iSAM: Incremental Smoothing and Mapping
Kaess, M., Ranganathan, A., & Dellaert, F. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2006706 · Cited by 1,076
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
Dellaert, F., & Kaess, M. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906072768 · Cited by 922
Autonomous vehicle perception: The technology of today and tomorrow
Van Brummelen, J., O’Brien, M., Gruyer, D., & Najjaran, H. (2018) · Transportation Research Part C: Emerging Technologies · doi:10.1016/j.trc.2018.02.012 · Cited by 869
Metadata
- Authors
- Leonard, J. J., Durrant-Whyte, H. F., & Cox, I. J.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1992-08
- Volume
- 11
- Issue
- 4
- Pages
- 286-298
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2007635681
- Cited by
- 414
- References
- 21
- FWCI
- 23.37
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Dynamic Map Building for an Autonomous Mobile Robot. https://app.cochat.ai/papers/10.1177/027836499201100402
- The paper
- Leonard, J. J., Durrant-Whyte, H. F., & Cox, I. J. (1992). Dynamic Map Building for an Autonomous Mobile Robot. The International Journal of Robotics Research. https://doi.org/10.1177/027836499201100402
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.
