@ARTICLE{16222, 
author={T. Lozano-Perez and J. L. Jones and E. Mazer and P. A. O'Donnell}, 
journal={Computer}, 
title={Task-level planning of pick-and-place robot motions}, 
year={1989}, 
volume={22}, 
number={3}, 
pages={21-29}, 
keywords={position control;robots;Handey;heuristic motion planning;pick-and-place robot motions;task-level planning;task-level robot system;Artificial intelligence;Assembly systems;Intelligent robots;Kinematics;Laboratories;Motion planning;Robot motion;Robotic assembly;Service robots;Strategic planning}, 
doi={10.1109/2.16222}, 
ISSN={0018-9162}, 
month={March},}

@MISC{TurtleBotHistory,
author = {IEEE},
title = {TurtleBot Inventors Tell Us Everything About the Robot},
month = Mar,
year = {2013},
howpublished={\url{https://spectrum.ieee.org/interview-turtlebot-inventors-tell-us-everything-about-the-robot}}
}



@MISC{TurtleBot3,
author = {ROBOTIS},
title = {TurtleBot3},
month = Apr,
year = {2021},
howpublished={\url{https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/}}
}

@MISC{turtle_robots,
author = {Wikipedia},
title = {Turtle (robot)},
month = Jan,
year = {2021},
howpublished={\url{https://en.wikipedia.org/wiki/Turtle_(robot)}}
}

@book{cpp.2009,
author = {K.L. Busbee},
title = {{Programming Fundamentals: A Modular Structured Approach Using C++}},
year = {2009},
publisher = {OpenStax CNX},
address = {USA}
}

@Article{app9050816,
AUTHOR = {Wang, Fei and Liu, Yuqiang and Xiao, Ling and Wu, Chengdong and Chu, Hao},
TITLE = {Topological Map Construction Based on Region Dynamic Growing and Map Representation Method},
JOURNAL = {Applied Sciences},
VOLUME = {9},
YEAR = {2019},
NUMBER = {5},
ARTICLE-NUMBER = {816},
URL = {https://www.mdpi.com/2076-3417/9/5/816},
ISSN = {2076-3417},
ABSTRACT = {In the human–machine interactive scene of the service robot, obstacle information and destination information are both required, and both kinds of information need to be saved and used at the same time. In order to solve this problem, this paper proposes a topological map construction pipeline based on regional dynamic growth and a map representation method based on the conical space model. Based on the metric map, the construction pipeline can initialize the region growth point on the trajectory of the mobile robot. Next, the topological region is divided by the region dynamic growth algorithm, the map structure is simplified by the minimum spanning tree, and the similar region is merged by the region merging algorithm. After that, the parameter TM (topological information in the map) and the parameter OM (occupied information in the map) are used to represent the topological information and the occupied information. Finally, a topological map represented by the colored picture is saved by converting to color information. It is highlighted that the topological map construction pipeline is not limited by the structure of the environment, and can be automatically adjusted according to the actual environment structure. What’s more, the topological map representation method can save two kinds of map information at the same time, which simplifies the map representation structure. The experimental results show that the map construction method is flexible, and that resources such as calculation and storage are less consumed. The map representation method is convenient to use and improves the efficiency of the map in preservation.},
DOI = {10.3390/app9050816}
}


@INPROCEEDINGS{4399142,  author={H. Jacky Chang and C. S. George Lee and Y. Charlie Hu and Yung-Hsiang Lu},  booktitle={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},   title={Multi-robot SLAM with topological/metric maps},   year={2007},  volume={},  number={},  pages={1467-1472},  doi={10.1109/IROS.2007.4399142}}

@INPROCEEDINGS{6385518,  author={C. {Schlenoff} and E. {Prestes} and R. {Madhavan} and P. {Goncalves} and H. {Li} and S. {Balakirsky} and T. {Kramer} and E. {Migueláñez}},  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},   title={{An IEEE standard Ontology for Robotics and Automation}},   year={2012},  volume={},  number={},  pages={1337-1342},}

@book{american_heritage,
title = {{The American Heritage dictionary of the English language}},
year = {2000},
publisher = {Boston : Houghton Mifflin},
address = {USA},
edition = {4th}
}

@book{data-structure,
author = {Aho, Alfred V. and Hopcroft, John E. and Ullman, Jeffrey},
title = {Data Structures and Algorithms},
year = {1983},
isbn = {0201000237},
publisher = {Addison-Wesley Longman Publishing Co., Inc.},
address = {USA},
edition = {1st}
}

@book{data-structure2,
author = {Gonnet, G. H. and Baeza-Yates, R.},
title = {Handbook of Algorithms and Data Structures: In Pascal and C (2nd Ed.)},
year = {1991},
isbn = {0201416077},
publisher = {Addison-Wesley Longman Publishing Co., Inc.},
address = {USA}
}
  
@MISC{variadic:2020,
author = {Wikipedia},
title = {Variadic Functions},
month = June,
year = {2020},
howpublished={\url{https://en.wikipedia.org/wiki/Variadic_function}}
}


@MISC{TurtleBot3,
author = {ROBOTIS},
title = {TurtleBot3},
month = Apr,
year = {2021},
howpublished={\url{https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/}}
}

@MISC{turtle_robots,
author = {Wikipedia},
title = {Turtle (robot)},
month = Jan,
year = {2021},
howpublished={\url{https://en.wikipedia.org/wiki/Turtle_(robot)}}
}

@MISC{node,
author = {Open Robotics},
title = {Understanding ROS Nodes},
month = Sep,
year = {2021},
howpublished={\url{http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes}}
}


@MISC{rosthread,
author = {gitconnected},
title = {ROS Spinning, Threading, Queuing},
howpublished={\url{https://levelup.gitconnected.com/ros-spinning-threading-queuing-aac9c0a793f}}
}

@MISC{nodehandle,
author = {Open Robotics},
title = {Node Handles},
month = Jun,
year = {2021},
howpublished={\url{http://wiki.ros.org/roscpp/Overview/NodeHandles}}
}



@MISC{rosrun,
author = {Open Robotics},
title = {rosrun},
month = Jan,
year = {2021},
howpublished={\url{http://wiki.ros.org/rosbash#rosrun}}
}

@MISC{cmake,
author = {Open Robotics},
title = {CMakeLists},
month = Jul,
year = {2019},
howpublished={\url{http://wiki.ros.org/catkin/CMakeLists.txt}}
}

@inproceedings{Milstein2008OccupancyGM,
  title={Occupancy Grid Maps for Localization and Mapping},
  author={Adam Milstein},
  year={2008}
}



@MISC{message,
author = {Open Robotics},
title = {Messages},
month = Sep,
year = {2020},
howpublished={\url{http://wiki.ros.org/msg}}
}

@MISC{service,
author = {Open Robotics},
title = {Services},
month = Sep,
year = {2020},
howpublished={\url{https://wiki.ros.org/rospy/Overview/Services}}
}


@MISC{actionlib,
author = {Open Robotics},
title = {actionlib},
month = Sep,
year = {2020},
howpublished={\url{http://wiki.ros.org/actionlib}}
}


@MISC{packageresourcename,
author = {Open Robotics},
title = {Package Resource Names},
month = Sep,
year = {2020},
howpublished={\url{https://wiki.ros.org/Names}}
}

@MISC{movebase,
author = {Open Robotics},
title = {move\_base},
month = Sep,
year = {2020},
howpublished={\url{http://wiki.ros.org/move_base}}
}

@MISC{parameterserver,
author = {Open Robotics},
title = {Parameter Server},
month = Sep,
year = {2020},
howpublished={\url{https://wiki.ros.org/Parameter%20Server}}
}

@MISC{amcl,
author = {Open Robotics},
title = {AMCL},
month = Aug,
year = {2020},
howpublished={\url{http://wiki.ros.org/amcl}}
}


@MISC{gmapping,
author = {Open Robotics},
title = {Topics},
month = Feb,
year = {2019},
howpublished={\url{http://wiki.ros.org/gmapping}}
}


@MISC{topic,
author = {Open Robotics},
title = {Topics},
month = Feb,
year = {2019},
howpublished={\url{http://wiki.ros.org/Topics}}
}

@MISC{roscore,
author = {Open Robotics},
title = {roscore},
month = Sep,
year = {2019},
howpublished={\url{http://wiki.ros.org/roscore}}
}

@MISC{master,
author = {Open Robotics},
title = {Master},
month = Jan,
year = {2018},
howpublished={\url{http://wiki.ros.org/Master}}
}

@MISC{catkin_workspace,
author = {Open Robotics},
title = {Workspaces},
month = Jul,
year = {2017},
howpublished={\url{http://wiki.ros.org/catkin/workspaces}}
}


@MISC{catkin_package,
author = {Open Robotics},
title = {Catkin Conceptual Overview},
month = Mar,
year = {2020},
howpublished={\url{http://wiki.ros.org/catkin/conceptual_overview}}
}


@MISC{roscpp,
author = {Open Robotics},
title = {roscpp},
month = Nov,
year = {2015},
howpublished={\url{http://wiki.ros.org/roscpp}}
}

@MISC{roscd,
author = {ROS},
title = {rosbash},
month = Jan,
year = {2021},
howpublished={\url{http://wiki.ros.org/rosbash##roscd}}
}


@MISC{rospack,
author = {Open Robotics},
title = {rospack},
month = Oct,
year = {2015},
howpublished={\url{http://wiki.ros.org/rospack}}
}

@MISC{roslaunch,
author = {Open Robotics},
title = {roslaunch},
month = Oct,
year = {2019},
howpublished={\url{http://wiki.ros.org/roslaunch}}
}

@MISC{arg,
author = {Open Robotics},
title = {<arg> tag},
month = Apr,
year = {2021},
howpublished={\url{http://wiki.ros.org/roslaunch/XML/arg}}
}

@MISC{param,
author = {Open Robotics},
title = {<param> tag},
month = Jan,
year = {2021},
howpublished={\url{http://wiki.ros.org/roslaunch/XML/param}}
}

@MISC{rosparam,
author = {Open Robotics},
title = {rosparam},
month = Jun,
year = {2014},
howpublished={\url{http://wiki.ros.org/rosparam}}
}


@MISC{rviz,
author = {Open Robotics},
title = {rviz},
month = May,
year = {2018},
howpublished={\url{http://wiki.ros.org/rviz}}
}

@MISC{gazebo,
author = {Open Robotics},
title = {Gazebo},
year = {2014},
howpublished={\url{http://gazebosim.org/}}
}

@MISC{rqt_graph,
author = {Open Robotics},
title = {rqt\_graph},
month = Sep,
year = {2018},
howpublished={\url{http://wiki.ros.org/rqt_graph}}
}

@MISC{rosnode,
author = {Open Robotics},
title = {rosnode},
month = Apr,
year = {2013},
howpublished={\url{http://wiki.ros.org/rosnode}}
}

@MISC{logging,
author = {Open Robotics},
title = {Logging},
month = Feb,
year = {2020},
howpublished={\url{http://wiki.ros.org/roscpp/Overview/Logging}}
}

@MISC{verbosity,
author = {Open Robotics},
title = {Verbosity Level},
month = Jul,
year = {2010},
howpublished={\url{http://wiki.ros.org/Verbosity%20Levels}}
}