{"id":"https://openalex.org/W4402474369","doi":"https://doi.org/10.1109/ccece59415.2024.10667292","title":"Experiments in Decentralized Multivehicle Localization Using Ultra-Wideband Transceivers","display_name":"Experiments in Decentralized Multivehicle Localization Using Ultra-Wideband Transceivers","publication_year":2024,"publication_date":"2024-08-06","ids":{"openalex":"https://openalex.org/W4402474369","doi":"https://doi.org/10.1109/ccece59415.2024.10667292"},"language":"en","primary_location":{"id":"doi:10.1109/ccece59415.2024.10667292","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccece59415.2024.10667292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-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/A5014250943","display_name":"Emily Taylor","orcid":"https://orcid.org/0000-0001-6235-7425"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Emily Taylor","raw_affiliation_strings":["Queen’s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen’s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001411460","display_name":"Thomas M. C. Sears","orcid":"https://orcid.org/0000-0002-3951-6085"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas M. C. Sears","raw_affiliation_strings":["Queen’s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen’s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056181361","display_name":"Joshua A. Marshall","orcid":"https://orcid.org/0000-0002-7736-7981"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joshua A. Marshall","raw_affiliation_strings":["Queen’s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queen’s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1856,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49973277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"443","last_page":"447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.9958999752998352,"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"}},"topics":[{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.9958999752998352,"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/T11932","display_name":"Wireless Body Area Networks","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10069","display_name":"Antenna Design and Analysis","score":0.9868000149726868,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/transceiver","display_name":"Transceiver","score":0.7276738882064819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5331235527992249},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.2318854033946991},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.11479407548904419}],"concepts":[{"id":"https://openalex.org/C7720470","wikidata":"https://www.wikidata.org/wiki/Q954187","display_name":"Transceiver","level":3,"score":0.7276738882064819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5331235527992249},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.2318854033946991},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.11479407548904419}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccece59415.2024.10667292","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccece59415.2024.10667292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1592358051","https://openalex.org/W1749494163","https://openalex.org/W2010567317","https://openalex.org/W2075108767","https://openalex.org/W2109897681","https://openalex.org/W2138890480","https://openalex.org/W2148747602","https://openalex.org/W2241164914","https://openalex.org/W2290604533","https://openalex.org/W2604710118","https://openalex.org/W2890732628","https://openalex.org/W3131299624","https://openalex.org/W3133492880","https://openalex.org/W3173732093","https://openalex.org/W3207168623","https://openalex.org/W3210204753","https://openalex.org/W4212966960","https://openalex.org/W4281642191","https://openalex.org/W4386065728","https://openalex.org/W4402474369","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2783437851","https://openalex.org/W4249165909","https://openalex.org/W1672137312","https://openalex.org/W1650483958","https://openalex.org/W2320869333","https://openalex.org/W1924731896","https://openalex.org/W2744385696","https://openalex.org/W2040472248"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,18,108],"experimental":[4],"study":[5],"of":[6,111],"a":[7],"decentralized":[8],"solution":[9],"for":[10,49,96,103],"collaborative":[11],"multivehicle":[12],"localization":[13],"in":[14,80,84,89,93,99,113],"GNSS-denied":[15],"environments":[16],"using":[17,62],"unscented":[19],"Kalman":[20],"filter":[21,73],"(UKF).":[22],"By":[23],"placing":[24],"two":[25],"ultra-wideband":[26],"(UWB)":[27],"transceivers":[28,65],"on":[29],"each":[30,50],"uncrewed":[31],"ground":[32],"vehicle":[33],"and":[34,53,66],"having":[35],"vehicles":[36],"communicate":[37],"only":[38],"odometry":[39,88],"information,":[40],"robots":[41,98],"are":[42,56],"able":[43],"to":[44,76],"act":[45],"as":[46],"mobile":[47],"landmarks":[48],"other.":[51],"World-frame":[52],"relative-frame":[54],"formulations":[55],"presented.":[57],"Both":[58],"versions":[59],"were":[60],"tested":[61],"DWM1001C":[63],"UWB":[64],"three":[67],"Clearpath":[68],"Husky":[69],"robots.":[70],"The":[71],"world-frame":[72],"was":[74],"found":[75],"outperform":[77],"dead":[78,116],"reckoning":[79],"most":[81],"instances,":[82],"however":[83],"some":[85],"cases":[86],"poor":[87],"one":[90],"robot":[91],"resulted":[92],"reduced":[94],"performance":[95],"other":[97],"the":[100,104],"system.":[101],"Results":[102],"relative":[105],"formulation":[106],"demonstrated":[107],"average":[109],"improvement":[110],"71.8%":[112],"RMSE":[114],"over":[115],"reckoning.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}