{"id":"https://openalex.org/W4360866286","doi":"https://doi.org/10.1007/s41315-023-00276-0","title":"Two-stage multi-sensor fusion positioning system with seamless switching for cooperative mobile robot and manipulator system","display_name":"Two-stage multi-sensor fusion positioning system with seamless switching for cooperative mobile robot and manipulator system","publication_year":2023,"publication_date":"2023-03-24","ids":{"openalex":"https://openalex.org/W4360866286","doi":"https://doi.org/10.1007/s41315-023-00276-0"},"language":"en","primary_location":{"id":"doi:10.1007/s41315-023-00276-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-023-00276-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s41315-023-00276-0.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"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":"International Journal of Intelligent Robotics and Applications","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/s41315-023-00276-0.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103261628","display_name":"Manman Yang","orcid":"https://orcid.org/0000-0002-5121-0361"},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Manman Yang","raw_affiliation_strings":["Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, G1 1XJ, UK"],"affiliations":[{"raw_affiliation_string":"Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, G1 1XJ, UK","institution_ids":["https://openalex.org/I181647926"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022264324","display_name":"Erfu Yang","orcid":"https://orcid.org/0000-0003-1813-5950"},"institutions":[{"id":"https://openalex.org/I181647926","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69","country_code":"GB","type":"education","lineage":["https://openalex.org/I181647926"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Erfu Yang","raw_affiliation_strings":["Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, G1 1XJ, UK"],"affiliations":[{"raw_affiliation_string":"Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, G1 1XJ, UK","institution_ids":["https://openalex.org/I181647926"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103261628"],"corresponding_institution_ids":["https://openalex.org/I181647926"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":9.0833,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97012508,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"275","last_page":"290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/mobile-robot","display_name":"Mobile robot","score":0.6199906468391418},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6128612160682678},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5307654738426208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5111823678016663},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.48790594935417175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48642754554748535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.480106383562088},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4272793233394623},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3539581894874573},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3447490930557251},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.32199546694755554}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6199906468391418},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6128612160682678},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5307654738426208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5111823678016663},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.48790594935417175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48642754554748535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.480106383562088},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4272793233394623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3539581894874573},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3447490930557251},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.32199546694755554}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s41315-023-00276-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-023-00276-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s41315-023-00276-0.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"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":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},{"id":"pmh:oai:strathprints.strath.ac.uk:84508","is_oa":true,"landing_page_url":"https://strathprints.strath.ac.uk/view/author/1211358.html>","pdf_url":"https://strathprints.strath.ac.uk/84508/7/Yang_Yang_IJIRA_2023_Two_stage_multi_sensor_fusion_positioning_system_with_seamless_switching_for_cooperative_mobile_robot.pdf","source":{"id":"https://openalex.org/S4306402226","display_name":"Strathprints: The University of Strathclyde institutional repository (University of Strathclyde)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I181647926","host_organization_name":"University of Strathclyde","host_organization_lineage":["https://openalex.org/I181647926"],"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":"PeerReviewed"}],"best_oa_location":{"id":"doi:10.1007/s41315-023-00276-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-023-00276-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s41315-023-00276-0.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"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":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310234","display_name":"University of Strathclyde","ror":"https://ror.org/00n3w3b69"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4360866286.pdf"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W1634692259","https://openalex.org/W1980212123","https://openalex.org/W1987959245","https://openalex.org/W1994349244","https://openalex.org/W2011302374","https://openalex.org/W2016752306","https://openalex.org/W2026079690","https://openalex.org/W2059788607","https://openalex.org/W2065429801","https://openalex.org/W2087070363","https://openalex.org/W2097737678","https://openalex.org/W2109618870","https://openalex.org/W2111784981","https://openalex.org/W2118223742","https://openalex.org/W2125858574","https://openalex.org/W2127752689","https://openalex.org/W2133059825","https://openalex.org/W2145023731","https://openalex.org/W2145640590","https://openalex.org/W2157495892","https://openalex.org/W2162130260","https://openalex.org/W2168949085","https://openalex.org/W2184237213","https://openalex.org/W2220985878","https://openalex.org/W2274304191","https://openalex.org/W2288895516","https://openalex.org/W2295671295","https://openalex.org/W2316944287","https://openalex.org/W2400198916","https://openalex.org/W2411338219","https://openalex.org/W2441306629","https://openalex.org/W2754721836","https://openalex.org/W2759375001","https://openalex.org/W2799333594","https://openalex.org/W2888629782","https://openalex.org/W2889087170","https://openalex.org/W2889829150","https://openalex.org/W2901416950","https://openalex.org/W2902573416","https://openalex.org/W2921105841","https://openalex.org/W2922421953","https://openalex.org/W2946314455","https://openalex.org/W2997371877","https://openalex.org/W3037192942","https://openalex.org/W3059965140","https://openalex.org/W3131547931","https://openalex.org/W3142938224","https://openalex.org/W3202358609","https://openalex.org/W3203752009","https://openalex.org/W4226334784","https://openalex.org/W4242073862"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2089114113","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2040913503","https://openalex.org/W2389555968","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"Abstract":[0],"The":[1,267],"stoppage":[2],"of":[3,54,84,90,113,237,280],"a":[4,91,96,114,177,233],"mobile":[5,26,56,67,97,115,126,194,282],"platform":[6],"is":[7,99,136,155,166,218,226,293],"generally":[8],"scheduled":[9],"to":[10,33,50,106,157,182,191,198,276],"feed":[11],"parts":[12],"for":[13,101,121],"machines":[14],"on":[15,73],"production":[16,34],"lines,":[17],"such":[18],"as":[19],"fenced":[20],"industrial":[21,46],"robotic":[22,27,47,87,93,102,123,189,274],"manipulators.":[23],"A":[24],"non-stop":[25],"part":[28],"feeding":[29],"system":[30,88,252],"can":[31,210,253,271],"contribute":[32],"efficiency":[35],"and":[36,59,95,108,221],"flexibility":[37],"but":[38],"contains":[39],"several":[40],"challenging":[41],"tasks.":[42],"For":[43],"example,":[44],"the":[45,52,55,63,66,74,78,85,111,122,183,188,193,199,249,255,273,278,281,287,290],"manipulator":[48,94,124,190,275],"needs":[49],"perceive":[51,110],"positions":[53,112,279],"robot":[57,68,98,127,195,283],"accurately":[58,107],"robustly":[60,109],"before":[61],"grasping":[62],"supplies":[64],"when":[65,289],"moves":[69],"around.":[70],"Thus,":[71],"based":[72],"relative":[75],"distance":[76],"between":[77],"two":[79,117],"robots,":[80],"an":[81,129,151,170],"interaction":[82],"mode":[83],"integrated":[86],"consisting":[89],"fixed":[92],"developed":[100],"interaction.":[103],"In":[104],"order":[105],"robot,":[116],"different":[118],"positioning":[119,125,164,178,203,230,251,256,265],"approaches":[120],"in":[128,229,240,260,286],"indoor":[130],"environment":[131],"are":[132],"utilised.":[133],"One":[134],"approach":[135,165,204],"ultrasonic":[137,161,208],"sensors":[138],"fused":[139],"with":[140,173,207,262],"inertia":[141],"measurement":[142],"units":[143],"(IMU)":[144],"by":[145,168],"extended":[146],"Kalman":[147],"filter":[148],"(EKF).":[149],"Furthermore,":[150],"outlier":[152],"rejection":[153],"mechanism":[154],"implemented":[156],"escape":[158],"outliers":[159],"from":[160],"measurement.":[162],"Another":[163],"achieved":[167],"detecting":[169],"ArUco":[171],"marker":[172],"visual":[174,184,291],"sensor.":[175],"Lastly,":[176],"switching":[179],"strategy":[180,270],"according":[181],"sensor":[185,209,292],"state":[186],"allows":[187],"reposition":[192],"seamlessly.":[196],"According":[197],"static":[200,241],"experiments,":[201],"EKF-based":[202],"fusing":[205],"IMU":[206],"export":[211],"high-accuracy":[212],"(the":[213,223],"root":[214],"mean":[215],"square":[216],"error":[217],"0.04":[219],"m)":[220,228],"high-precision":[222],"standard":[224],"deviation":[225],"0.0033":[227],"while":[231],"keeping":[232],"high":[234],"update":[235],"frequency":[236],"181.9":[238],"HZ":[239],"positioning.":[242],"Evaluations":[243],"through":[244],"dynamic":[245],"experiments":[246],"demonstrate":[247],"that":[248],"proposed":[250],"suppress":[254],"drifts":[257],"over":[258],"time":[259],"comparison":[261],"wheel":[263],"encoder-based":[264],"method.":[266],"two-stage":[268],"repositioning":[269],"support":[272],"identify":[277],"robustly,":[284],"even":[285],"case":[288],"occluded.":[294]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}