{"id":"https://openalex.org/W3194635013","doi":"https://doi.org/10.1109/access.2021.3106864","title":"Dynamics-Based Modified Fast Simultaneous Localization and Mapping for Unmanned Aerial Vehicles With Joint Inertial Sensor Bias and Drift Estimation","display_name":"Dynamics-Based Modified Fast Simultaneous Localization and Mapping for Unmanned Aerial Vehicles With Joint Inertial Sensor Bias and Drift Estimation","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3194635013","doi":"https://doi.org/10.1109/access.2021.3106864","mag":"3194635013"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3106864","doi":"https://doi.org/10.1109/access.2021.3106864","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3106864","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09521156.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09521156.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024241669","display_name":"Nargess Sadeghzadeh-Nokhodberiz","orcid":"https://orcid.org/0000-0002-2950-3598","observed_orcids":["https://orcid.org/0000-0002-2950-3598"]},"institutions":[{"id":"https://openalex.org/I4210157736","display_name":"Qom University of Technology","ror":"https://ror.org/04zepk655","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210157736"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Nargess Sadeghzadeh-Nokhodberiz","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Qom University of Technology, Qom 3718146645, Iran"],"raw_orcid":"https://orcid.org/0000-0002-2950-3598","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Qom University of Technology, Qom 3718146645, Iran","institution_ids":["https://openalex.org/I4210157736"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010302531","display_name":"Aydin Can","orcid":"https://orcid.org/0000-0003-3052-0202","observed_orcids":["https://orcid.org/0000-0003-3052-0202"]},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Aydin Can","raw_affiliation_strings":["Department of Engineering, Lancaster University, Lancaster, Lancashire, LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0003-3052-0202","affiliations":[{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster, Lancashire, LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836","observed_orcids":["https://orcid.org/0000-0002-0890-8836"]},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["Extreme Robotics Lab (ERL), School of Metallurgy and Materials University of Birmingham, Edgbaston, Birmingham, B152TT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab (ERL), School of Metallurgy and Materials University of Birmingham, Edgbaston, Birmingham, B152TT, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001180960","display_name":"Allahyar Montazeri","orcid":"https://orcid.org/0000-0002-1750-6994","observed_orcids":["https://orcid.org/0000-0002-1750-6994"]},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Allahyar Montazeri","raw_affiliation_strings":["Department of Engineering, Lancaster University, Lancaster, Lancashire, LA1 4YW, UK. (e-mail: a.montazeri@lancaster.ac.uk)","Department of Engineering, Lancaster University, Lancaster, Lancashire, LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0002-1750-6994","affiliations":[{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster, Lancashire, LA1 4YW, UK. (e-mail: a.montazeri@lancaster.ac.uk)","institution_ids":["https://openalex.org/I67415387"]},{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster, Lancashire, LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1750,"currency":"USD","value_usd":1750},"apc_paid":{"value":1750,"currency":"USD","value_usd":1750},"fwci":1.2188,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.77644026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"120247","last_page":"120260"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.0,"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/simultaneous-localization-and-mapping","display_name":"SLAM","score":0.9309999942779541},{"id":"https://openalex.org/keywords/fastslam","display_name":"FastSLAM","score":0.8100000023841858},{"id":"https://openalex.org/keywords/rao-blackwellized-particle-filter","display_name":"Rao-Blackwellized particle filter","score":0.890999972820282},{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.9480000138282776},{"id":"https://openalex.org/keywords/unmanned-aerial-vehicles","display_name":"unmanned aerial vehicles","score":0.875},{"id":"https://openalex.org/keywords/sensor-faults","display_name":"sensor faults","score":0.48100000619888306},{"id":"https://openalex.org/keywords/quadcopter-dynamics","display_name":"quadcopter dynamics","score":0.6330000162124634},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"extended Kalman filter","score":0.7879999876022339},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7960000038146973},{"id":"https://openalex.org/keywords/landmark-detection","display_name":"landmark detection","score":0.5370000004768372},{"id":"https://openalex.org/keywords/gazebo-simulation","display_name":"Gazebo simulation","score":0.5950000286102295},{"id":"https://openalex.org/keywords/reactive-oxygen-species","display_name":"reactive oxygen species","score":0.45500001311302185}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9325571060180664},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8290350437164307},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7713913917541504},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7405180931091309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6826096773147583},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6175493597984314},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49786853790283203},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4717065989971161},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4472912549972534},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4253954291343689},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15758436918258667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13364195823669434},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11897671222686768},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3106864","doi":"https://doi.org/10.1109/access.2021.3106864","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3106864","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09521156.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:eprints.lancs.ac.uk:158806","doi":null,"is_oa":true,"landing_page_url":"https://eprints.lancs.ac.uk/id/eprint/158806/1/FINAL_Version.pdf","pdf_url":"https://eprints.lancs.ac.uk/id/eprint/158806/1/FINAL_Version.pdf","source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:doaj.org/article:34cd2b0557254cef8b0b5a83e92bafbd","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/34cd2b0557254cef8b0b5a83e92bafbd","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 120247-120260 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3106864","doi":"https://doi.org/10.1109/access.2021.3106864","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3106864","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09521156.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G3761795683","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320309964","display_name":"University of Cumbria","ror":"https://ror.org/05gd22996"},{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3194635013.pdf","grobid_xml":"https://content.openalex.org/works/W3194635013.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W95577512","https://openalex.org/W625003409","https://openalex.org/W839964369","https://openalex.org/W1501966803","https://openalex.org/W1525535255","https://openalex.org/W1536078990","https://openalex.org/W1561744404","https://openalex.org/W1712194169","https://openalex.org/W1964117447","https://openalex.org/W1972662372","https://openalex.org/W1977538008","https://openalex.org/W2040920255","https://openalex.org/W2058988630","https://openalex.org/W2059042035","https://openalex.org/W2085558553","https://openalex.org/W2103393159","https://openalex.org/W2111787305","https://openalex.org/W2132404491","https://openalex.org/W2147536420","https://openalex.org/W2148820580","https://openalex.org/W2166642310","https://openalex.org/W2200985032","https://openalex.org/W2538522345","https://openalex.org/W2750632489","https://openalex.org/W2791170368","https://openalex.org/W2890376682","https://openalex.org/W2908603664","https://openalex.org/W2973038457","https://openalex.org/W3015235064","https://openalex.org/W3081330083","https://openalex.org/W4206180546","https://openalex.org/W6675456536"],"related_works":["https://openalex.org/W7018608444","https://openalex.org/W2123849027","https://openalex.org/W7099628645","https://openalex.org/W2104960875","https://openalex.org/W2978682557","https://openalex.org/W1966076243","https://openalex.org/W2889902238","https://openalex.org/W2120540633","https://openalex.org/W2049096104","https://openalex.org/W2074218228"],"abstract_inverted_index":{"In":[0,68,128],"this":[1,69],"paper,":[2,70],"the":[3,33,54,71,87,132,144,150,154,168,184,200,209,222,229,243,261],"problem":[4,34],"of":[5,35,204,208,242],"simultaneous":[6],"localization":[7,37,88],"and":[8,38,50,77,89,104,122,124,152,175,183,219],"mapping":[9,39,90],"(SLAM)":[10],"using":[11,238,252,268],"a":[12,25,113,161,215,239],"modified":[13,20,93,116,164,240],"Rao":[14],"Blackwellized":[15],"Particle":[16],"Filter":[17,102,107],"(RBPF)":[18],"(a":[19],"FastSLAM)":[21],"is":[22,29,59,80,95,178,212,232,254,269],"developed":[23,97],"for":[24,257],"quadcopter":[26,230,245],"system.":[27],"It":[28],"intended":[30],"to":[31,47,82,119,130,136,140,160],"overcome":[32],"inaccurate":[36],"caused":[40],"by":[41],"inertial":[42],"sensory":[43,176],"faulty":[44],"measurements":[45,146],"(due":[46],"biases,":[48],"drifts":[49,123],"noises)":[51],"injected":[52],"in":[53,65,98,112,143,149,153,166,180,188,191,199,221,227,234,236,260],"kinematics":[55],"(odometery":[56],"based)":[57],"which":[58,99,167,192,228],"commonly":[60],"used":[61,187],"as":[62],"motion":[63],"model":[64,137,231],"FastSLAM":[66,94,165,170],"approaches.":[67],"quadcopter\u2019s":[72],"dynamics":[73,174],"with":[74,115],"augmented":[75],"bias":[76],"drift":[78],"models":[79,196],"employed":[81,179],"eliminate":[83],"these":[84],"faults":[85],"from":[86],"process.":[91,157],"A":[92],"then":[96,255],"both":[100],"Kalman":[101,106],"(KF)":[103],"Extended":[105],"(EKF)":[108],"algorithms":[109],"are":[110,147,186,197,267],"embedded":[111],"PF":[114,151],"particles\u2019":[117],"weights":[118],"estimate":[120],"biases":[121],"landmark":[125],"locations,":[126],"respectively.":[127],"order":[129],"make":[131],"SLAM":[133],"process":[134,203],"robust":[135],"mismatches":[138],"due":[139],"parameter":[141],"uncertainties":[142],"dynamics,":[145],"incorporated":[148,198],"particle":[155,201],"generation":[156,202],"This":[158],"leads":[159],"cascaded":[162],"two-stage":[163],"extended":[169],"1.0":[171],"(to":[172],"include":[173],"faults)":[177],"first":[181],"stage":[182,190],"results":[185],"second":[189],"probabilistic":[193],"inverse":[194],"sensor":[195],"PF.":[205],"The":[206,248,263],"efficiency":[207],"proposed":[210],"approach":[211],"demonstrated":[213],"through":[214],"co-simulation":[216],"between":[217],"MATLAB-2019b":[218],"Gazebo":[220,235],"robotic":[223],"operating":[224],"system":[225],"(ROS)":[226],"simulated":[233],"ROS":[237,246],"version":[241],"Hector":[244],"package.":[247],"collected":[249],"pointcloud":[250],"data":[251],"LiDAR":[253],"utilised":[256],"feature":[258],"extraction":[259],"Gazebo.":[262],"simulation":[264],"environment":[265],"we":[266],"validated":[270],"based":[271],"on":[272],"experimental":[273],"data.":[274]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2021-08-30T00:00:00"}
