{"id":"https://openalex.org/W7140142869","doi":"https://doi.org/10.1109/isparo66239.2025.11436819","title":"An Ultra-Wideband Localization Approach for Unknown Anchor Distributions","display_name":"An Ultra-Wideband Localization Approach for Unknown Anchor Distributions","publication_year":2025,"publication_date":"2025-12-01","ids":{"openalex":"https://openalex.org/W7140142869","doi":"https://doi.org/10.1109/isparo66239.2025.11436819"},"language":"en","primary_location":{"id":"doi:10.1109/isparo66239.2025.11436819","doi":"https://doi.org/10.1109/isparo66239.2025.11436819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436819","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5130333162","display_name":"Martin Hesse","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I25974101","display_name":"University of W\u00fcrzburg","ror":"https://ror.org/00fbnyb24","country_code":"DE","type":"education","lineage":["https://openalex.org/I25974101"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Hesse","raw_affiliation_strings":["Julius-Maximilians-Universität Würzburg,Informatics XVII - Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Julius-Maximilians-Universität Würzburg,Informatics XVII - Robotics,Germany","institution_ids":["https://openalex.org/I25974101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083912316","display_name":"Dorit Borrmann","orcid":"https://orcid.org/0000-0002-1363-4913","observed_orcids":["https://orcid.org/0000-0002-1363-4913"]},"institutions":[{"id":"https://openalex.org/I3130074995","display_name":"Technical University of Applied Sciences W\u00fcrzburg-Schweinfurt","ror":"https://ror.org/01k5h5v15","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130074995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dorit Borrmann","raw_affiliation_strings":["Technical University of Applied Sciences Würzburg-Schweinfurt,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Applied Sciences Würzburg-Schweinfurt,Germany","institution_ids":["https://openalex.org/I3130074995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113992144","display_name":"Andreas N\u00fcchter","orcid":"https://orcid.org/0000-0003-3870-783X","observed_orcids":["https://orcid.org/0000-0003-3870-783X"]},"institutions":[{"id":"https://openalex.org/I25974101","display_name":"University of W\u00fcrzburg","ror":"https://ror.org/00fbnyb24","country_code":"DE","type":"education","lineage":["https://openalex.org/I25974101"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas N\u00fcchter","raw_affiliation_strings":["Julius-Maximilians-Universität Würzburg,Informatics XVII - Robotics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Julius-Maximilians-Universität Würzburg,Informatics XVII - Robotics,Germany","institution_ids":["https://openalex.org/I25974101"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026247917","display_name":"S\u00e9rgio Montenegro","orcid":"https://orcid.org/0000-0002-3958-3018","observed_orcids":["https://orcid.org/0000-0002-3958-3018"]},"institutions":[{"id":"https://openalex.org/I25974101","display_name":"University of W\u00fcrzburg","ror":"https://ror.org/00fbnyb24","country_code":"DE","type":"education","lineage":["https://openalex.org/I25974101"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sergio Montenegro","raw_affiliation_strings":["Julius-Maximilians-Universität Würzburg,Informatics VIII - Aerospace Computer Science,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Julius-Maximilians-Universität Würzburg,Informatics VIII - Aerospace Computer Science,Germany","institution_ids":["https://openalex.org/I25974101"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71631627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"175","last_page":"180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7856000065803528,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7856000065803528,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.21330000460147858,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/ultra-wideband-positioning","display_name":"ultra-wideband positioning","score":0.9509999752044678},{"id":"https://openalex.org/keywords/mobile-robot-localization","display_name":"mobile robot localization","score":0.7580000162124634},{"id":"https://openalex.org/keywords/two-way-ranging","display_name":"two-way ranging","score":0.953000009059906},{"id":"https://openalex.org/keywords/ekf-slam","display_name":"EKF-SLAM","score":0.9039999842643738},{"id":"https://openalex.org/keywords/wheel-odometry","display_name":"wheel odometry","score":0.8669999837875366},{"id":"https://openalex.org/keywords/gnss-denied-navigation","display_name":"GNSS-denied navigation","score":0.7990000247955322},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"planetary exploration","score":0.8529999852180481}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.385699987411499},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3492000102996826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32850000262260437},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3003000020980835},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.29980000853538513},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2498999983072281},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.24410000443458557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isparo66239.2025.11436819","doi":"https://doi.org/10.1109/isparo66239.2025.11436819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436819","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1967740178","https://openalex.org/W1971177944","https://openalex.org/W2011482625","https://openalex.org/W2020196977","https://openalex.org/W2107627176","https://openalex.org/W2132919652","https://openalex.org/W2578085927","https://openalex.org/W2790374560","https://openalex.org/W2894578575","https://openalex.org/W3148195646","https://openalex.org/W3216887522"],"related_works":["https://openalex.org/W6948106397","https://openalex.org/W3026618187","https://openalex.org/W7080348244","https://openalex.org/W2890306371","https://openalex.org/W2949050565","https://openalex.org/W2972980981","https://openalex.org/W3092344703","https://openalex.org/W7213324394","https://openalex.org/W3016493280","https://openalex.org/W4312513258"],"abstract_inverted_index":{"Precise":[0],"localization":[1],"of":[2,38,62,93,123,152,157,167],"mobile":[3],"robots":[4],"is":[5,23,28,64,68,149,170],"key":[6],"to":[7,41,88,96,177],"many":[8],"(semi)-autonomous":[9],"operations,":[10],"such":[11,162],"as":[12,103,181],"planetary":[13],"exploration.":[14],"In":[15,45],"situations,":[16],"where":[17],"Global":[18],"Navigation":[19],"Satellite":[20],"Systems":[21],"(GNSS)":[22],"unavailable,":[24],"Ultra-Wideband":[25],"(UWB)":[26],"technology":[27],"a":[29,51,132],"common":[30],"replacement.":[31],"This":[32],"typically":[33],"relies":[34],"on":[35,50,144],"the":[36,56,60,82,90,94,97,120,124,141,158,165,168,178,183],"positions":[37,100],"distributed":[39],"anchors":[40,95],"be":[42],"known":[43],"beforehand.":[44],"this":[46],"work":[47],"we":[48],"expand":[49],"system,":[52],"that":[53],"remotely":[54],"distributes":[55],"anchors,":[57,136],"which":[58,74,116],"means":[59],"position":[61,92],"them":[63,118],"unknown.":[65],"The":[66,147],"robot":[67,169],"equipped":[69],"with":[70,80,119,134],"three":[71],"UWB":[72,159],"tags,":[73],"perform":[75],"Two-Way-Ranging":[76],"(TWR)":[77],"distance":[78],"measurements":[79],"all":[81],"anchors.":[83,160],"These":[84,99],"distances":[85],"are":[86,101],"used":[87],"determine":[89],"relative":[91],"robot.":[98,125],"interpreted":[102],"landmarks":[104],"in":[105,131,172],"an":[106,155,163],"Extended":[107],"Kalman":[108],"Filter":[109],"(EKF)-Simultaneous":[110],"Localization":[111],"and":[112],"Mapping":[113],"(SLAM)":[114],"algorithm,":[115],"combines":[117],"wheel":[121,142],"odometry":[122,143],"Our":[126],"experiments":[127],"show":[128],"promising":[129],"results":[130],"setup":[133],"four":[135],"performing":[137],"considerably":[138],"better":[139],"than":[140],"its":[145],"own.":[146],"system":[148],"also":[150],"capable":[151],"operating":[153],"through":[154],"outage":[156,164],"After":[161],"pose":[166],"corrected":[171],"multiple":[173],"experiments,":[174],"though":[175],"not":[176],"same":[179],"standard":[180],"before":[182],"outage.":[184]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-03-24T00:00:00"}