{"id":"https://openalex.org/W2149754240","doi":"https://doi.org/10.1109/iros.2011.6094684","title":"A hybrid estimation framework for Cooperative Localization under communication constraints","display_name":"A hybrid estimation framework for Cooperative Localization under communication constraints","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2149754240","doi":"https://doi.org/10.1109/iros.2011.6094684","mag":"2149754240"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094684","doi":"https://doi.org/10.1109/iros.2011.6094684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094684","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073580566","display_name":"Esha D. Nerurkar","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Esha D. Nerurkar","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100689230","display_name":"Ke Zhou","orcid":"https://orcid.org/0000-0002-2005-0932","observed_orcids":["https://orcid.org/0000-0002-2005-0932"]},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ke X. Zhou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"https://orcid.org/0009-0001-3056-0426","observed_orcids":["https://orcid.org/0009-0001-3056-0426"]},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stergios I. Roumeliotis","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":2.6467,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91730183,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"502","last_page":"509"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.8833000063896179,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.8833000063896179,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.07609999924898148,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.011900000274181366,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cooperative-localization","display_name":"cooperative localization","score":0.996999979019165},{"id":"https://openalex.org/keywords/communication-constraints","display_name":"communication constraints","score":0.953000009059906},{"id":"https://openalex.org/keywords/hybrid-estimation","display_name":"hybrid estimation","score":0.9369999766349792},{"id":"https://openalex.org/keywords/quantized-observations","display_name":"quantized measurements","score":0.8960000276565552},{"id":"https://openalex.org/keywords/robot-networks","display_name":"robot networks","score":0.5429999828338623},{"id":"https://openalex.org/keywords/distributed-estimation","display_name":"distributed estimation","score":0.44999998807907104}],"concepts":[{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.7174184322357178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6535852551460266},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6389789581298828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065856218338013},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5236420631408691},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.5150268077850342},{"id":"https://openalex.org/C53143962","wikidata":"https://www.wikidata.org/wiki/Q1478788","display_name":"Silicon on insulator","level":3,"score":0.49051159620285034},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.481766939163208},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4592902362346649},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4217143952846527},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41195595264434814},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3610362410545349},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3368297815322876},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3282429575920105},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.3250812292098999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2440737783908844},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.19433826208114624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18502292037010193},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16679346561431885},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C544956773","wikidata":"https://www.wikidata.org/wiki/Q670","display_name":"Silicon","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094684","doi":"https://doi.org/10.1109/iros.2011.6094684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094684","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.221.1476","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.1476","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/%7Estergios/papers/IROS-2011-Hybrid-KF-CL.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1517521717","https://openalex.org/W1559536185","https://openalex.org/W1646998587","https://openalex.org/W1984572758","https://openalex.org/W1992200270","https://openalex.org/W2061391010","https://openalex.org/W2096300742","https://openalex.org/W2109957651","https://openalex.org/W2115731779","https://openalex.org/W2131091570","https://openalex.org/W2138890480","https://openalex.org/W2149083914","https://openalex.org/W2157958213","https://openalex.org/W2158336584","https://openalex.org/W2161739744","https://openalex.org/W2163503836","https://openalex.org/W4234095850"],"related_works":["https://openalex.org/W2157958213","https://openalex.org/W2054030264","https://openalex.org/W7096226527","https://openalex.org/W4391559365","https://openalex.org/W59758902","https://openalex.org/W2765560339","https://openalex.org/W2144965178","https://openalex.org/W7097994063","https://openalex.org/W7155030298","https://openalex.org/W2146702612"],"abstract_inverted_index":{"In":[0],"this":[1,92],"paper,":[2],"we":[3,94,120,139,172],"consider":[4],"the":[5,37,123,130,141,158,185,195],"problem":[6],"of":[7,52,129,136,194],"multi-centralized":[8],"Cooperative":[9],"Localization":[10],"(CL)":[11],"under":[12],"severe":[13],"communication":[14],"constraints,":[15],"i.e.,":[16],"when":[17],"each":[18,46,76,103,164],"robot":[19,47,77,104],"can":[20],"communicate":[21],"only":[22,183],"a":[23,96,126],"single":[24],"bit":[25],"per":[26],"real-valued":[27],"(analog)":[28,197],"measurement.":[29],"Existing":[30],"approaches,":[31],"such":[32],"as":[33],"those":[34],"based":[35],"on":[36,157],"Sign-of-Innovation":[38],"Kalman":[39,199],"filter":[40],"(SOI-KF)":[41],"and":[42,62,112],"its":[43,54,59,86,115],"variants,":[44],"require":[45],"to":[48,79,105,150,163,192],"process":[49,106],"quantized":[50,108],"versions":[51],"both":[53,107,134,179],"local":[55],"(i.e.,":[56,64],"recorded":[57],"by":[58,66],"own":[60,87,116],"sensors)":[61,111,117],"remote":[63,110],"collected":[65],"other":[67],"robots)":[68],"measurements.":[69,89,118,137],"This":[70],"results":[71],"in":[72,85,167],"suboptimal":[73],"performance":[74],"since":[75],"has":[78],"discard":[80],"information":[81,153],"that":[82,101,144,178,193],"is":[83],"available":[84,162],"analog":[88,113],"To":[90],"address":[91],"limitation,":[93],"introduce":[95,140],"novel":[97],"hybrid":[98,124,159,180],"estimation":[99],"scheme":[100,149],"enables":[102],"(from":[109,114],"Specifically,":[119],"first":[121],"present":[122,173],"(H)-SOI-KF,":[125],"direct":[127],"extension":[128],"SOI-KF,":[131,186],"for":[132],"processing":[133],"types":[135],"Secondly,":[138],"modified":[142],"(M)H-SOI-KF,":[143],"uses":[145],"an":[146],"asymmetric":[147],"encoding/decoding":[148],"incorporate":[151],"additional":[152],"during":[154],"quantization":[155],"(based":[156],"estimates":[160],"locally":[161],"robot),":[165],"resulting":[166],"substantial":[168],"accuracy":[169,190],"improvement.":[170],"Lastly,":[171],"extensive":[174],"simulations":[175],"which":[176],"demonstrate":[177],"estimators":[181],"not":[182],"outperform":[184],"but":[187],"also":[188],"achieve":[189],"comparable":[191],"standard":[196],"centralized":[198],"filter.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}