{"id":"https://openalex.org/W3185596732","doi":"https://doi.org/10.1109/access.2021.3094962","title":"FPGA Implementation of Particle Filters for Robotic Source Localization","display_name":"FPGA Implementation of Particle Filters for Robotic Source Localization","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3185596732","doi":"https://doi.org/10.1109/access.2021.3094962","mag":"3185596732"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3094962","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3094962","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09475035.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09475035.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073396979","display_name":"Adithya Krishna","orcid":"https://orcid.org/0000-0001-9230-4068"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Adithya Krishna","raw_affiliation_strings":["Indian Institute of Science, Bengaluru, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061261367","display_name":"Andr\u00e9 van Schaik","orcid":"https://orcid.org/0000-0001-6140-017X"},"institutions":[{"id":"https://openalex.org/I63525965","display_name":"Western Sydney University","ror":"https://ror.org/03t52dk35","country_code":"AU","type":"education","lineage":["https://openalex.org/I63525965"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Andre van Schaik","raw_affiliation_strings":["International Centre for Neuromorphic Systems, The MARCS Institute, Western Sydney University, Kingswood, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"International Centre for Neuromorphic Systems, The MARCS Institute, Western Sydney University, Kingswood, NSW, Australia","institution_ids":["https://openalex.org/I63525965"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085211717","display_name":"Chetan Singh Thakur","orcid":null},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chetan Singh Thakur","raw_affiliation_strings":["Indian Institute of Science, Bengaluru, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073396979"],"corresponding_institution_ids":["https://openalex.org/I59270414"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8398,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78616543,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"98185","last_page":"98203"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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":0.9976000189781189,"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/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.7786705493927002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7671996355056763},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.7225102186203003},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6627205610275269},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5379937291145325},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.473614901304245},{"id":"https://openalex.org/keywords/gate-array","display_name":"Gate array","score":0.47132185101509094},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4577021598815918},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.37064266204833984},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3690059185028076},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3570364713668823},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.3322742283344269}],"concepts":[{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.7786705493927002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7671996355056763},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.7225102186203003},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6627205610275269},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5379937291145325},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.473614901304245},{"id":"https://openalex.org/C114237110","wikidata":"https://www.wikidata.org/wiki/Q114901","display_name":"Gate array","level":3,"score":0.47132185101509094},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4577021598815918},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.37064266204833984},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3690059185028076},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3570364713668823},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.3322742283344269},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3094962","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3094962","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09475035.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:eprints.iisc.ac.in:69678","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401429","display_name":"ePrints@IISc (Indian Institute of Science)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:doaj.org/article:0b65bb96e59743fcb8c157f511898371","is_oa":true,"landing_page_url":"https://doaj.org/article/0b65bb96e59743fcb8c157f511898371","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 98185-98203 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3094962","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3094962","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09475035.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310071","display_name":"Indian Institute of Science","ror":"https://ror.org/04dese585"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3185596732.pdf","grobid_xml":"https://content.openalex.org/works/W3185596732.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W281999536","https://openalex.org/W560462606","https://openalex.org/W1482742014","https://openalex.org/W1534014494","https://openalex.org/W1932940155","https://openalex.org/W1964813853","https://openalex.org/W1973636889","https://openalex.org/W1982729278","https://openalex.org/W2007118171","https://openalex.org/W2043976026","https://openalex.org/W2055161558","https://openalex.org/W2073147900","https://openalex.org/W2074104833","https://openalex.org/W2098613108","https://openalex.org/W2126574351","https://openalex.org/W2126736494","https://openalex.org/W2128851304","https://openalex.org/W2135433300","https://openalex.org/W2160337655","https://openalex.org/W2164204138","https://openalex.org/W2171191044","https://openalex.org/W2262122146","https://openalex.org/W2299674510","https://openalex.org/W2332482960","https://openalex.org/W2484012672","https://openalex.org/W2494639327","https://openalex.org/W2507366063","https://openalex.org/W2528133549","https://openalex.org/W2545069052","https://openalex.org/W2547100746","https://openalex.org/W2575959506","https://openalex.org/W2767333017","https://openalex.org/W2896577517","https://openalex.org/W2952002082","https://openalex.org/W3158090794","https://openalex.org/W6610284511","https://openalex.org/W6632085543","https://openalex.org/W6680075394","https://openalex.org/W6722116880","https://openalex.org/W6795099380"],"related_works":["https://openalex.org/W4399458808","https://openalex.org/W2367348190","https://openalex.org/W2014165129","https://openalex.org/W594316872","https://openalex.org/W2292110992","https://openalex.org/W2831860248","https://openalex.org/W2367794224","https://openalex.org/W2072850836","https://openalex.org/W1968650434","https://openalex.org/W2105610663"],"abstract_inverted_index":{"Particle":[0],"filtering":[1],"is":[2,30,62,166,196],"very":[3],"reliable":[4],"in":[5,38,52,136,186],"modelling":[6],"non-Gaussian":[7],"and":[8,20,65,84,97,103,112,159,174,181,198,229],"non-linear":[9],"elements":[10],"of":[11,27,88,133,177,191,205],"physical":[12],"systems,":[13],"which":[14,34,80],"makes":[15],"it":[16,61],"ideal":[17],"for":[18,162,209,233],"tracking":[19],"localization":[21,127],"applications.":[22,235],"However,":[23],"a":[24,57,72,95,124,134,137,183,201],"major":[25],"drawback":[26],"particle":[28,54,77,142,192],"filters":[29,55,193],"their":[31,36],"computational":[32,58,187],"complexity,":[33],"inhibits":[35],"use":[37],"real-time":[39,234],"applications":[40],"with":[41,200,222],"conventional":[42],"CPU":[43,221],"or":[44],"DSP":[45],"based":[46],"implementation":[47,190],"schemes.":[48],"The":[49,148],"re-sampling":[50,83,90],"step":[51],"the":[53,75,86,89,109,114,131,141,163,171,178],"creates":[56],"bottleneck":[59],"since":[60],"inherently":[63],"sequential":[64],"cannot":[66],"be":[67,231],"parallelized.":[68],"This":[69],"paper":[70],"proposes":[71],"modification":[73],"to":[74,107,129,214],"existing":[76],"filter":[78,143],"algorithm,":[79],"enables":[81],"parallel":[82],"reduces":[85],"effect":[87],"bottleneck.":[91],"We":[92],"then":[93],"present":[94],"high-speed":[96,179],"dedicated":[98],"hardware":[99],"architecture":[100,180],"incorporating":[101],"pipe-lining":[102],"parallelization":[104],"design":[105,149],"strategies":[106],"supplement":[108],"modified":[110],"algorithm":[111,144],"lower":[113],"execution":[115,172,203],"time":[116,173,204],"considerably.":[117],"From":[118],"an":[119],"application":[120],"standpoint,":[121],"we":[122,169],"propose":[123],"novel":[125],"source":[126,135],"model":[128],"estimate":[130],"position":[132],"noisy":[138],"environment":[139],"using":[140,153],"implemented":[145],"on":[146,194,217],"hardware.":[147],"has":[150],"been":[151],"prototyped":[152],"Artix-7":[154],"field-programmable":[155],"gate":[156],"array":[157],"(FPGA),":[158],"resource":[160],"utilization":[161],"proposed":[164],"system":[165],"presented.":[167],"Further,":[168],"show":[170],"estimation":[175],"accuracy":[176],"observe":[182],"significant":[184],"reduction":[185],"time.":[188],"Our":[189],"FPGA":[195],"scalable":[197],"modular,":[199],"low":[202],"about":[206],"5.62":[207],"\u03bcs":[208],"processing":[210],"1024":[211],"particles":[212],"(compared":[213],"64":[215],"ms":[216],"Intel":[218],"Core":[219],"i7-7700":[220],"eight":[223],"cores":[224],"clocking":[225],"at":[226],"3.60":[227],"GHz)":[228],"can":[230],"deployed":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
