{"id":"https://openalex.org/W4321598322","doi":"https://doi.org/10.1007/s11370-023-00457-7","title":"A ROS-based distributed multi-robot localization and orientation strategy for heterogeneous robots","display_name":"A ROS-based distributed multi-robot localization and orientation strategy for heterogeneous robots","publication_year":2023,"publication_date":"2023-02-23","ids":{"openalex":"https://openalex.org/W4321598322","doi":"https://doi.org/10.1007/s11370-023-00457-7"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-023-00457-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-023-00457-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-023-00457-7.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11370-023-00457-7.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041767182","display_name":"Abdussalam A. Alajami","orcid":"https://orcid.org/0000-0002-8101-517X"},"institutions":[{"id":"https://openalex.org/I170486558","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29","country_code":"ES","type":"education","lineage":["https://openalex.org/I170486558"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Abdussalam A. Alajami","raw_affiliation_strings":["Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-8101-517X","affiliations":[{"raw_affiliation_string":"Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064189470","display_name":"Nil Palau","orcid":null},"institutions":[{"id":"https://openalex.org/I170486558","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29","country_code":"ES","type":"education","lineage":["https://openalex.org/I170486558"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Nil Palau","raw_affiliation_strings":["Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080475118","display_name":"Sergio L\u00f3pez-Soriano","orcid":"https://orcid.org/0000-0002-1219-7125"},"institutions":[{"id":"https://openalex.org/I170486558","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29","country_code":"ES","type":"education","lineage":["https://openalex.org/I170486558"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sergio Lopez-Soriano","raw_affiliation_strings":["Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036786601","display_name":"Rafael Pous","orcid":"https://orcid.org/0000-0002-1122-5219"},"institutions":[{"id":"https://openalex.org/I170486558","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29","country_code":"ES","type":"education","lineage":["https://openalex.org/I170486558"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rafael Pous","raw_affiliation_strings":["Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Communications and Information Technology, Universitat Pompeu Fabra, Roc Boronat, 138, 08018, Barcelona, Spain","institution_ids":["https://openalex.org/I170486558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041767182"],"corresponding_institution_ids":["https://openalex.org/I170486558"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":4.0664,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93683334,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"16","issue":"2","first_page":"177","last_page":"193"},"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/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":1.0,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9973000288009644,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.8301358819007874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.769659161567688},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7164968848228455},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5693497657775879},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5356058478355408},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4733198583126068},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4694827198982239},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4693271517753601},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.434765487909317}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8301358819007874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.769659161567688},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7164968848228455},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5693497657775879},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5356058478355408},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4733198583126068},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4694827198982239},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4693271517753601},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.434765487909317},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s11370-023-00457-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-023-00457-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-023-00457-7.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repositori.upf.edu:10230/57447","is_oa":true,"landing_page_url":"http://hdl.handle.net/10230/57447","pdf_url":"http://repositori.upf.edu/bitstream/10230/57447/1/Alajami_int_aros.pdf","source":{"id":"https://openalex.org/S4306402615","display_name":"Repositori digital de la UPF (Universitat Pompeu Fabra)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I170486558","host_organization_name":"Universitat Pompeu Fabra","host_organization_lineage":["https://openalex.org/I170486558"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s11370-023-00457-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-023-00457-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-023-00457-7.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318602","display_name":"Universitat Pompeu Fabra","ror":"https://ror.org/04n0g0b29"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4321598322.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W615006660","https://openalex.org/W1635475619","https://openalex.org/W1760322595","https://openalex.org/W1821262254","https://openalex.org/W1974222962","https://openalex.org/W2109749443","https://openalex.org/W2113961124","https://openalex.org/W2128453677","https://openalex.org/W2145060371","https://openalex.org/W2155256807","https://openalex.org/W2159092725","https://openalex.org/W2168670302","https://openalex.org/W2172135272","https://openalex.org/W2608876647","https://openalex.org/W2617613380","https://openalex.org/W2917442576","https://openalex.org/W3037629601","https://openalex.org/W3160257224","https://openalex.org/W3182496594","https://openalex.org/W4292291846","https://openalex.org/W6941606087"],"related_works":["https://openalex.org/W4293226380","https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W4313906399","https://openalex.org/W4321487865","https://openalex.org/W2811106690","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Abstract":[0],"The":[1,73,95,102,130,186,207],"problem":[2],"of":[3,11,43,49,79,99,119,141,152,162,201],"estimating":[4],"and":[5,9,66,71,85,105,116,147,175,183,195,203,216],"tracking":[6],"the":[7,68,76,80,86,92,106,120,124,149,160,165,221],"location":[8],"orientation":[10,108,132,176],"a":[12,28,137,171,199],"mobile":[13],"robot":[14],"by":[15,114,136],"another":[16],"in":[17,23,126,155,205,214],"heterogeneous":[18,54],"distributed":[19,29,224],"multi-robots":[20,225],"is":[21,35,97,112,134,168,193],"studied":[22],"this":[24,163,190],"paper.":[25],"We":[26],"propose":[27],"multi-robot":[30,139],"localization":[31,103,174],"strategy":[32],"(DMLS)":[33],"that":[34,46,56,179,189],"Robotic":[36],"Operating":[37],"System":[38],"(ROS)":[39],"based.":[40],"It":[41],"consists":[42],"an":[44,127],"algorithm":[45,96],"fuses":[47],"data":[48,144],"diverse":[50,142],"sensors":[51],"from":[52,91,231],"2":[53],"robots":[55,154],"are":[57],"not":[58],"connected":[59],"within":[60],"their":[61,156],"transform":[62,150],"trees":[63],"to":[64,145,227],"localize":[65],"measure":[67],"relative":[69,88,107,131],"position":[70,89],"orientation.":[72],"method":[74,167,178,192],"exploits":[75],"robust":[77,194],"detection":[78],"Convolutional":[81],"Neural":[82],"Networks":[83],"(CNN)":[84],"accurate":[87,196],"measurements":[90],"local":[93],"costmap.":[94],"composed":[98],"two":[100],"parts:":[101],"part":[104],"measurement":[109,133],"part.":[110],"Localization":[111],"done":[113,135],"optimization":[115],"alignment":[117],"calibration":[118],"CNN":[121],"output":[122],"with":[123,170],"costmap":[125],"individual":[128],"robot.":[129],"collaborative":[138],"fusing":[140],"sensor":[143],"align":[146],"synchronize":[148],"frames":[151],"both":[153],"costmaps.":[157],"To":[158],"illustrate":[159],"performance":[161],"strategy,":[164],"proposed":[166,191,222],"compared":[169],"conventional":[172],"object":[173],"measuring":[177],"uses":[180],"computer":[181],"vision":[182],"QR":[184],"codes.":[185],"results":[187],"show":[188],"while":[197],"maintaining":[198],"degree":[200],"simplicity":[202],"efficiency":[204],"costs.":[206],"paper":[208],"also":[209],"presents":[210],"various":[211],"application":[212],"experiments":[213],"laboratory":[215],"simulation":[217],"environments.":[218],"By":[219],"using":[220],"method,":[223],"collaborate":[226],"achieve":[228],"collective":[229],"intelligence":[230],"individuals,":[232],"which":[233],"increases":[234],"team":[235],"performance.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
