Patrick Beeson, Joseph Modayil, Benjamin Kuipers. 2010.
Factoring the mapping problem: Mobile robot map-building in the
Hybrid Spatial Semantic Hierarchy
International Journal of Robotics Research 29(4): 428-459, 2010.
Patrick Beeson, Nicholas K. Jong, and Benjamin Kuipers. 2005.
Towards Autonomous Topological Place Detection Using the Extended Voronoi
Graph.
IEEE International Conference on Robotics and
Automaton (ICRA-05).
Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and
Francesco Savelli. 2004.
Local metrical and global topological maps
in the hybrid Spatial Semantic Hierarchy.
IEEE International Conference on Robotics and Automation (ICRA-04).
Joseph Modayil, Patrick Beeson and Benjamin Kuipers. 2004.
Using the topological skeleton for
scalable global metrical map-building.
IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS-04).
Francesco Savelli and Benjamin Kuipers. 2004.
Loop-closing and planarity in topological map-building.
IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS-04).
Emilio Remolina and Benjamin Kuipers. 2004.
Towards a general theory of topological maps.
Artificial Intelligence 152: 47-104, 2004.
Benjamin Kuipers. 2000.
The Spatial Semantic Hierarchy.
Artificial Intelligence Journal 119: 191-233.