{"id":"https://openalex.org/W3155892032","doi":"https://doi.org/10.1080/0952813x.2021.1908430","title":"Simultaneous localisation and mapping for autonomous underwater vehicle using a combined smooth variable structure filter and extended kalman filter","display_name":"Simultaneous localisation and mapping for autonomous underwater vehicle using a combined smooth variable structure filter and extended kalman filter","publication_year":2021,"publication_date":"2021-04-14","ids":{"openalex":"https://openalex.org/W3155892032","doi":"https://doi.org/10.1080/0952813x.2021.1908430","mag":"3155892032"},"language":"en","primary_location":{"id":"doi:10.1080/0952813x.2021.1908430","is_oa":false,"landing_page_url":"https://doi.org/10.1080/0952813x.2021.1908430","pdf_url":null,"source":{"id":"https://openalex.org/S153467142","display_name":"Journal of Experimental & Theoretical Artificial Intelligence","issn_l":"0952-813X","issn":["0952-813X","1362-3079"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Experimental & Theoretical Artificial Intelligence","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/A5022469183","display_name":"Fethi Demim","orcid":"https://orcid.org/0000-0003-0687-0800"},"institutions":[{"id":"https://openalex.org/I155256416","display_name":"\u00c9cole Sp\u00e9ciale Militaire de Saint-Cyr","ror":"https://ror.org/00aac9t94","country_code":"FR","type":"education","lineage":["https://openalex.org/I155256416"]},{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ","FR"],"is_corresponding":true,"raw_author_name":"Fethi Demim","raw_affiliation_strings":["Ecole Militaire Polytechnique (EMP)","Laboratoire Des V\u00e9hicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Ecole Militaire Polytechnique (EMP)","institution_ids":["https://openalex.org/I2802493600","https://openalex.org/I155256416"]},{"raw_affiliation_string":"Laboratoire Des V\u00e9hicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030678986","display_name":"Souhila Benmansour","orcid":"https://orcid.org/0000-0001-9598-5604"},"institutions":[{"id":"https://openalex.org/I137407579","display_name":"Universit\u00e9 Oran 1 Ahmed Ben Bella","ror":"https://ror.org/059et2b68","country_code":"DZ","type":"education","lineage":["https://openalex.org/I137407579"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Souhila Benmansour","raw_affiliation_strings":["University of Oran","AVCIS Laboratory, University of Oran, Oran, Algeria"],"affiliations":[{"raw_affiliation_string":"University of Oran","institution_ids":["https://openalex.org/I137407579"]},{"raw_affiliation_string":"AVCIS Laboratory, University of Oran, Oran, Algeria","institution_ids":["https://openalex.org/I137407579"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103165750","display_name":"Abdelkrim Nemra","orcid":"https://orcid.org/0000-0001-9237-9449"},"institutions":[{"id":"https://openalex.org/I155256416","display_name":"\u00c9cole Sp\u00e9ciale Militaire de Saint-Cyr","ror":"https://ror.org/00aac9t94","country_code":"FR","type":"education","lineage":["https://openalex.org/I155256416"]},{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"Nemra Abdelkrim","raw_affiliation_strings":["Ecole Militaire Polytechnique (EMP)","Laboratoire Des V\u00e9hicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Ecole Militaire Polytechnique (EMP)","institution_ids":["https://openalex.org/I2802493600","https://openalex.org/I155256416"]},{"raw_affiliation_string":"Laboratoire Des V\u00e9hicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081816530","display_name":"Abdenebi Rouigueb","orcid":"https://orcid.org/0000-0001-5699-2721"},"institutions":[{"id":"https://openalex.org/I155256416","display_name":"\u00c9cole Sp\u00e9ciale Militaire de Saint-Cyr","ror":"https://ror.org/00aac9t94","country_code":"FR","type":"education","lineage":["https://openalex.org/I155256416"]},{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"Abdenebi Rouigueb","raw_affiliation_strings":["Ecole Militaire Polytechnique (EMP)","Modeling and Optimization Techniques Laboratory, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Ecole Militaire Polytechnique (EMP)","institution_ids":["https://openalex.org/I2802493600","https://openalex.org/I155256416"]},{"raw_affiliation_string":"Modeling and Optimization Techniques Laboratory, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029907688","display_name":"Mustapha Hamerlain","orcid":"https://orcid.org/0009-0006-2390-9382"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Mustapha Hamerlain","raw_affiliation_strings":["Centre De D\u00e9veloppement Des Technologies Avanc\u00e9es (CDTA)","Robotics Department, Centre De D\u00e9veloppement Des Technologies Avanc\u00e9es (CDTA), Algiers, Baba Hassen, Algeria"],"affiliations":[{"raw_affiliation_string":"Centre De D\u00e9veloppement Des Technologies Avanc\u00e9es (CDTA)","institution_ids":["https://openalex.org/I4210102186"]},{"raw_affiliation_string":"Robotics Department, Centre De D\u00e9veloppement Des Technologies Avanc\u00e9es (CDTA), Algiers, Baba Hassen, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111472749","display_name":"Abdelouahab Bazoula","orcid":null},"institutions":[{"id":"https://openalex.org/I155256416","display_name":"\u00c9cole Sp\u00e9ciale Militaire de Saint-Cyr","ror":"https://ror.org/00aac9t94","country_code":"FR","type":"education","lineage":["https://openalex.org/I155256416"]},{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"Abdelouahab Bazoula","raw_affiliation_strings":["Ecole Militaire Polytechnique (EMP)","Laboratoire Des V\u00e9hicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Ecole Militaire Polytechnique (EMP)","institution_ids":["https://openalex.org/I2802493600","https://openalex.org/I155256416"]},{"raw_affiliation_string":"Laboratoire Des V\u00e9hicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Bordj El Bahri, Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5022469183"],"corresponding_institution_ids":["https://openalex.org/I155256416","https://openalex.org/I2802493600"],"apc_list":null,"apc_paid":null,"fwci":2.4233,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.8757597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"34","issue":"4","first_page":"621","last_page":"650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9995999932289124,"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/underwater","display_name":"Underwater","score":0.7792970538139343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7595371603965759},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7274482250213623},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6655534505844116},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6333681344985962},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4658800959587097},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.44155871868133545},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4192204475402832},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4156743884086609},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4069215953350067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36203962564468384},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.150816410779953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13387787342071533},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13187694549560547},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07187974452972412}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7792970538139343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7595371603965759},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7274482250213623},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6655534505844116},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6333681344985962},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4658800959587097},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.44155871868133545},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4192204475402832},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4156743884086609},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4069215953350067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36203962564468384},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.150816410779953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13387787342071533},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13187694549560547},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07187974452972412},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/0952813x.2021.1908430","is_oa":false,"landing_page_url":"https://doi.org/10.1080/0952813x.2021.1908430","pdf_url":null,"source":{"id":"https://openalex.org/S153467142","display_name":"Journal of Experimental & Theoretical Artificial Intelligence","issn_l":"0952-813X","issn":["0952-813X","1362-3079"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Experimental & Theoretical Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6600000262260437,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1494053224","https://openalex.org/W1912541283","https://openalex.org/W1979659209","https://openalex.org/W2011979009","https://openalex.org/W2015969523","https://openalex.org/W2024593230","https://openalex.org/W2049669552","https://openalex.org/W2054091988","https://openalex.org/W2059478405","https://openalex.org/W2069774726","https://openalex.org/W2091307069","https://openalex.org/W2097911079","https://openalex.org/W2109461637","https://openalex.org/W2117102490","https://openalex.org/W2117196466","https://openalex.org/W2123487311","https://openalex.org/W2132089677","https://openalex.org/W2134898473","https://openalex.org/W2144349051","https://openalex.org/W2146881125","https://openalex.org/W2149275380","https://openalex.org/W2159065647","https://openalex.org/W2170558248","https://openalex.org/W2184964147","https://openalex.org/W2336541517","https://openalex.org/W2338471795","https://openalex.org/W2402768891","https://openalex.org/W2551603260","https://openalex.org/W2568299513","https://openalex.org/W2596683252","https://openalex.org/W2773408174","https://openalex.org/W2883819615","https://openalex.org/W2887137167","https://openalex.org/W2887963841","https://openalex.org/W2892329944","https://openalex.org/W2913909435","https://openalex.org/W2994124545","https://openalex.org/W4205223772","https://openalex.org/W4249074720"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"Localisation":[0,26],"technology":[1],"is":[2,36,105,186],"one":[3],"of":[4,9,30,60,68,84,111,139,163,179],"the":[5,19,24,31,54,58,66,71,81,85,94,109,114,118,135,140,189,194],"most":[6],"important":[7],"challenges":[8],"underwater":[10,21,49,131,155],"vehicle":[11,156],"applications":[12],"that":[13,188],"accomplish":[14],"any":[15],"scheduled":[16],"mission":[17],"in":[18,177],"complex":[20],"environment.":[22],"Currently,":[23],"Simultaneous":[25],"and":[27,48,117,137,176,181],"Mapping":[28],"(SLAM)":[29],"Autonomous":[32],"Underwater":[33],"Vehicle":[34],"(AUV)":[35],"becoming":[37],"a":[38,88],"hotspot":[39],"research.":[40,55],"AUVs":[41],"have,":[42],"only":[43],"recently,":[44],"received":[45],"more":[46],"attention":[47],"platforms":[50],"continue":[51],"to":[52,79,92,198],"dominate":[53],"To":[56,107],"ensure":[57],"success":[59],"an":[61,153],"accurate":[62],"AUV":[63,86,142],"localisation":[64,143,180],"mission,":[65],"problem":[67],"drift":[69],"on":[70,128,158,170],"estimated":[72],"trajectory":[73],"must":[74],"be":[75],"overcome.":[76],"In":[77],"order":[78],"improve":[80],"positioning":[82,103],"accuracy":[83,136],"localisation,":[87],"new":[89],"filter":[90],"referred":[91],"as":[93],"Adaptive":[95],"Smooth":[96],"Variable":[97],"Structure":[98],"Filter":[99,121],"(ASVSF)":[100],"based":[101,127,157,169],"SLAM":[102,132],"algorithm":[104,133],"proposed.":[106],"verify":[108],"improvement":[110],"this":[112],"filter,":[113],"combined":[115],"SVSF":[116],"Extended":[119],"Kalman":[120],"(EKF)":[122],"are":[123],"presented.":[124],"Experimental":[125],"results":[126,162],"dataset":[129],"for":[130],"show":[134],"stability":[138],"ASVSF":[141],"position.":[144],"Several":[145],"experiments":[146],"were":[147],"tested":[148],"under":[149],"real-life":[150],"conditions":[151],"with":[152],"autonomous":[154],"different":[159],"filters.":[160],"The":[161],"these":[164],"filters":[165],"have":[166],"been":[167],"compared":[168,197],"Root":[171],"Mean":[172],"Squared":[173],"Error":[174],"(RMSE)":[175],"terms":[178],"map":[182],"building":[183],"errors.":[184],"It":[185],"shown":[187],"adaptive":[190],"SVSF-SLAM":[191],"strategy":[192],"obtains":[193],"best":[195],"performance":[196],"other":[199],"algorithms.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}