Hybrid metric navigation - topological maps. Proceedings of the IEEE International Conference on Robotics and Automation. DOI, This paper presents an extension of our previous work on hybrid metric topology maps to enable planning for uncertainty reduction across the map, taking map uncertainty into account. A hybrid approach involves having a local metric map for each topological node and is a good compromise between the two. 7 is a first example of combining topological and metric maps. They. An edge structure enhancement that allows the simulation of bidirectional edge propagation through an extended Kalman filter is proposed in the heuristic search planning algorithm to plan for maximum reduction of map uncertainty. This paper presents an extension of our previous work on hybrid metric maps, topological maps, localization and SLAM mapping with the aim of constructing a metric map. from a probabilistic point of view using Bayesian filtering. techniques. This work introduces a new hybrid - topological metric.