“…()]. Indeed, numerous hybrid topological/metric map representations, also called topometric (Badino et al., ), have been discussed in the literature and include the following: atlases (Bedwani et al., ; Bosse et al., ; Kuipers et al., ; Lisien et al., ; Maddern et al., ; Simhon & Dudek, ), hierarchical SLAM (Estrada et al., ), manifolds (Howard, ; Howard, et al., ), and skeleton graphs (Konolige et al., ), to name a few. Interestingly, although the shift from globally consistent metric maps to hybrid topological/metric maps has been relatively recent, Brooks () recognized the benefits of using hybrid topological/metric maps for robotic navigation tasks.…”