{"id":"https://openalex.org/W1964907491","doi":"https://doi.org/10.1109/acc.2014.6859341","title":"Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments","display_name":"Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W1964907491","doi":"https://doi.org/10.1109/acc.2014.6859341","mag":"1964907491"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2014.6859341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6859341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},"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/A5065459400","display_name":"Andrew Chambers","orcid":"https://orcid.org/0000-0003-2780-030X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Chambers","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069361050","display_name":"Luke Yoder","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luke Yoder","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022230336","display_name":"Sezal Jain","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sezal Jain","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072856018","display_name":"Stephen Nuske","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Nuske","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100641190","display_name":"Sanjiv Singh","orcid":"https://orcid.org/0000-0001-5412-2888"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjiv Singh","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":15.7343,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99254412,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1892","last_page":"1899"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"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/global-positioning-system","display_name":"Global Positioning System","score":0.8553897142410278},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7858759164810181},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7150110006332397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6442183256149292},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5985801219940186},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.47737666964530945},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47710472345352173},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4679158329963684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4638656973838806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45448872447013855},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44916045665740967},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34546446800231934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2662906050682068},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2615906000137329},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17976021766662598},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.157411128282547},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07989025115966797}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8553897142410278},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7858759164810181},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7150110006332397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6442183256149292},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5985801219940186},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.47737666964530945},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47710472345352173},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4679158329963684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4638656973838806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45448872447013855},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44916045665740967},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34546446800231934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2662906050682068},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2615906000137329},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17976021766662598},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.157411128282547},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07989025115966797},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2014.6859341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6859341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.825.7759","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.825.7759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://stephennuske.com/pdf/chambers_acc_2014.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.49000000953674316}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W28678555","https://openalex.org/W200697499","https://openalex.org/W1520710862","https://openalex.org/W1525805148","https://openalex.org/W1539436111","https://openalex.org/W1752188731","https://openalex.org/W1915368719","https://openalex.org/W1992063156","https://openalex.org/W2054091988","https://openalex.org/W2069635875","https://openalex.org/W2099022116","https://openalex.org/W2099901716","https://openalex.org/W2107802551","https://openalex.org/W2110914171","https://openalex.org/W2125240024","https://openalex.org/W2141570037","https://openalex.org/W2147536420","https://openalex.org/W2150064935","https://openalex.org/W2151135369","https://openalex.org/W2154381549","https://openalex.org/W2157907881","https://openalex.org/W2168676389","https://openalex.org/W2296147781","https://openalex.org/W3022480384","https://openalex.org/W3031115143","https://openalex.org/W6601185777","https://openalex.org/W6608138123"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W2998370018","https://openalex.org/W3161199934","https://openalex.org/W3125052734","https://openalex.org/W2303855011","https://openalex.org/W3123982513","https://openalex.org/W2312326526"],"abstract_inverted_index":{"State":[0],"estimation":[1],"for":[2,51,106],"Micro":[3],"Air":[4],"Vehicles":[5],"(MAVs)":[6],"is":[7,14,89],"challenging":[8,80],"because":[9],"sensing":[10],"instrumentation":[11],"carried":[12],"on-board":[13],"severely":[15],"limited":[16],"by":[17],"weight":[18],"and":[19,28,31,76,102,109],"power":[20],"constraints.":[21],"In":[22],"addition,":[23],"their":[24],"use":[25,52],"close":[26],"to":[27],"inside":[29],"structures":[30],"vegetation":[32],"means":[33],"that":[34,55,85],"GPS":[35],"signals":[36],"can":[37,103],"be":[38,104],"degraded":[39],"or":[40],"all":[41],"together":[42],"absent.":[43],"Here":[44],"we":[45],"present":[46],"a":[47,93],"navigation":[48],"system":[49],"suited":[50],"on":[53,71],"MAVs":[54],"seamlessly":[56],"fuses":[57],"any":[58],"combination":[59],"of":[60],"GPS,":[61],"visual":[62],"odometry,":[63],"inertial":[64],"measurements,":[65],"and/or":[66],"barometric":[67],"pressure.":[68],"We":[69],"focus":[70],"robustness":[72],"against":[73],"real-world":[74],"conditions":[75],"evaluate":[77],"performance":[78],"in":[79],"field":[81],"experiments.":[82],"Results":[83],"demonstrate":[84],"the":[86],"proposed":[87],"approach":[88],"effective":[90],"at":[91],"providing":[92],"consistent":[94],"state":[95],"estimate":[96],"even":[97],"during":[98],"multiple":[99],"sensor":[100],"failures":[101],"used":[105],"mapping,":[107],"planning,":[108],"control.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
