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Article

Simplified occupancy grid indoor mapping optimized for low-cost robots

Publicated to:ISPRS International Journal of Geo-Information. 2 (4): 959-977 - 2013-12-01 2(4), DOI: 10.3390/ijgi2040959

Authors: Gonzalez-Arjona D; Sanchez A; Lopez-Colino F; De Castro A; Garrido J

Affiliations

Abstract

© 2013 by the authors; licensee MDPI, Basel, Switzerland. This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted. The proposal has been tested with a mobile robot that uses infrared sensors to measure distances to obstacles and uses an ultrasonic beacon system for localization, besides wheel encoders. Finally, experimental results are presented..

Keywords

FpgaLow-costMappingOccupancy grid

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal ISPRS International Journal of Geo-Information due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2013, it was in position , thus managing to position itself as a Q2 (Segundo Cuartil), in the category Geography, Planning and Development.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 5.46, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Jun 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-06-09, the following number of citations:

  • WoS: 16
  • Scopus: 22
  • Google Scholar: 34
  • OpenCitations: 21

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-06-09:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 57.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 57 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 0.5.
  • The number of mentions on the social network X (formerly Twitter): 1 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://repositorio.uam.es/handle/10486/665608

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (GONZALEZ ARJONA, DAVID) and Last Author (GARRIDO SALAS, JAVIER).