Their initial mandate was to improve topological mapping
of the United States.
Ortiz, "Vision-based topological mapping and localization methods: a survey," Robotics and Autonomous Systems, vol.
Duckett, "Incremental topological mapping using omnidirectional vision," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp.
Rebsamen, "Simultaneous path planning and topological mapping
(SP2ATM) for environment exploration and goal oriented navigation," Robotics and Autonomous Systems, vol.
Our early approach  to topological mapping using a graph representation introduced the notion of representation into behavior-based systems by developing an integrated system that did not distinguish between the control program and the map, embedding both into concurrent, communicating behaviors.
Our current research, focusing on multi-robot topological mapping, involves a group of robots, as in Figure 2, building individual topological maps of the environment concurrently with no a priori information about one another's respective locations.