{"id":"https://openalex.org/W2121461705","doi":"https://doi.org/10.1007/s10514-010-9207-y","title":"Observability-based consistent EKF estimators for multi-robot cooperative localization","display_name":"Observability-based consistent EKF estimators for multi-robot cooperative localization","publication_year":2010,"publication_date":"2010-09-13","ids":{"openalex":"https://openalex.org/W2121461705","doi":"https://doi.org/10.1007/s10514-010-9207-y","mag":"2121461705"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-010-9207-y","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-010-9207-y","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","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/A5008502528","display_name":"Guoquan Huang","orcid":"https://orcid.org/0000-0001-9932-0685"},"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":true,"raw_author_name":"Guoquan P. Huang","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, 55455, USA","Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA 55455"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, 55455, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA 55455","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086062660","display_name":"Nikolas Trawny","orcid":null},"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":"Nikolas Trawny","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, 55455, USA","Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA 55455"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, 55455, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA 55455","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089122650","display_name":"Anastasios I. Mourikis","orcid":null},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anastasios I. Mourikis","raw_affiliation_strings":["Department of Electrical Engineering, University of California, Riverside, CA, 92521, USA","Department of Electrical Engineering, University of California, Riverside, USA, 92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of California, Riverside, CA, 92521, USA","institution_ids":["https://openalex.org/I103635307"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of California, Riverside, USA, 92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"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, MN, 55455, USA","Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA 55455"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, 55455, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA 55455","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008502528"],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":5.1254,"has_fulltext":false,"cited_by_count":112,"citation_normalized_percentile":{"value":0.95302218,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"30","issue":"1","first_page":"99","last_page":"122"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.95229172706604},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.9352487325668335},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6840251684188843},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6663631796836853},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6246200799942017},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.5776863694190979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5487757325172424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4889642000198364},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4795607924461365},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.453368216753006},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4422203302383423},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.43577513098716736},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.43133458495140076},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.35194331407546997},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3462781012058258},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.20819371938705444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08923417329788208},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08266770839691162},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05668669939041138}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.95229172706604},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.9352487325668335},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6840251684188843},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6663631796836853},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6246200799942017},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.5776863694190979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5487757325172424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4889642000198364},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4795607924461365},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.453368216753006},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4422203302383423},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.43577513098716736},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.43133458495140076},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35194331407546997},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3462781012058258},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.20819371938705444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08923417329788208},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08266770839691162},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05668669939041138},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-010-9207-y","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-010-9207-y","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.221.454","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.454","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/AR-CL-Consistency-2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1487444668","https://openalex.org/W1531532259","https://openalex.org/W1570939900","https://openalex.org/W1583480316","https://openalex.org/W2011754354","https://openalex.org/W2016087001","https://openalex.org/W2027055074","https://openalex.org/W2061391010","https://openalex.org/W2098221308","https://openalex.org/W2109957651","https://openalex.org/W2111295154","https://openalex.org/W2120902740","https://openalex.org/W2125961820","https://openalex.org/W2128453677","https://openalex.org/W2128832103","https://openalex.org/W2129716255","https://openalex.org/W2130418717","https://openalex.org/W2133174435","https://openalex.org/W2135261995","https://openalex.org/W2135699879","https://openalex.org/W2138890480","https://openalex.org/W2140131490","https://openalex.org/W2140998418","https://openalex.org/W2146702612","https://openalex.org/W2149433611","https://openalex.org/W2150081946","https://openalex.org/W2151711411","https://openalex.org/W2152910052","https://openalex.org/W2158090912","https://openalex.org/W2160380850","https://openalex.org/W2161739744","https://openalex.org/W2163503836","https://openalex.org/W2165468899","https://openalex.org/W2293473705","https://openalex.org/W2295237110","https://openalex.org/W2727085722","https://openalex.org/W2798766386","https://openalex.org/W4234095850","https://openalex.org/W4242209908","https://openalex.org/W4301621763","https://openalex.org/W6628968817","https://openalex.org/W6697026878","https://openalex.org/W6750230808"],"related_works":["https://openalex.org/W1035502194","https://openalex.org/W2164404293","https://openalex.org/W4206024512","https://openalex.org/W2966342863","https://openalex.org/W2096038130","https://openalex.org/W2053335193","https://openalex.org/W4300476109","https://openalex.org/W2772311278","https://openalex.org/W4205759170","https://openalex.org/W2354299011"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-24T08:33:08.758527","created_date":"2025-10-10T00:00:00"}
