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Analysis of institutional authors

Rossi CCorresponding AuthorMilosevic ZAuthorSuarez R.AuthorDominguez SAuthor

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March 20, 2023
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Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments

Publicated to:Sensors. 23 (5): 2371- - 2023-03-01 23(5), DOI: 10.3390/s23052371

Authors: Rossi, C; Zapata, AC; Milosevic, Z; Suarez, R; Dominguez, S

Affiliations

Univ Politecn Madrid, Ctr Automat & Robot UPM CSIC, Madrid 28006, Spain - Author
Universidad Politécnica de Madrid - Author

Abstract

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.

Keywords

3d navigationlabeled node matchingspacestopological navigation3d navigationLabeled node matchingOceanographyTopological navigationUnderwater robots

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Sensors 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, 2023, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Instrumentation.

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: 1.17, 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 Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-16, the following number of citations:

  • WoS: 2
  • Scopus: 2

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 2025-07-16:

  • 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: 8.
  • 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: 8 (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: 1.

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.

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 (ROSSI, CLAUDIO) and Last Author (DOMINGUEZ CABRERIZO, SERGIO).

the author responsible for correspondence tasks has been ROSSI, CLAUDIO.