{"id":"https://openalex.org/W2783827747","doi":"https://doi.org/10.1109/cdc.2017.8263874","title":"Nonlinear fisher particle output feedback control and its application to terrain aided navigation","display_name":"Nonlinear fisher particle output feedback control and its application to terrain aided navigation","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2783827747","doi":"https://doi.org/10.1109/cdc.2017.8263874","mag":"2783827747"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8263874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.14098","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037416922","display_name":"\u00c9milien Flayac","orcid":"https://orcid.org/0000-0002-5592-7861"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I4210091825","display_name":"Patel Hospital","ror":"https://ror.org/00drb8647","country_code":"IN","type":"healthcare","lineage":["https://openalex.org/I4210091825"]},{"id":"https://openalex.org/I4210132720","display_name":"Laboratoire d'Optique Appliqu\u00e9e","ror":"https://ror.org/03czns913","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I142476485","https://openalex.org/I201181511","https://openalex.org/I4210098836","https://openalex.org/I4210132720","https://openalex.org/I4210145102","https://openalex.org/I4210145102","https://openalex.org/I4405258625"]}],"countries":["FR","IN"],"is_corresponding":true,"raw_author_name":"Emilien Flayac","raw_affiliation_strings":["Department of Computer Science & Engineering, Sankalchand Patel College of engg","OC - Optimisation et commande (828, boulevard des Mar\u00e9chaux 91120 Palaiseau - France)","ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, Sankalchand Patel College of engg","institution_ids":["https://openalex.org/I4210091825"]},{"raw_affiliation_string":"OC - Optimisation et commande (828, boulevard des Mar\u00e9chaux 91120 Palaiseau - France)","institution_ids":["https://openalex.org/I4210132720"]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031114467","display_name":"Karim Dahia","orcid":"https://orcid.org/0000-0003-1823-8423"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Karim Dahia","raw_affiliation_strings":["Department of Computer Science & Engineering, Silver Oak college of institute","ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, Silver Oak college of institute","institution_ids":[]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042478199","display_name":"Bruno H\u00e9riss\u00e9","orcid":"https://orcid.org/0000-0002-9241-0810"},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I4210091825","display_name":"Patel Hospital","ror":"https://ror.org/00drb8647","country_code":"IN","type":"healthcare","lineage":["https://openalex.org/I4210091825"]}],"countries":["FR","IN"],"is_corresponding":false,"raw_author_name":"Bruno Herisse","raw_affiliation_strings":["Department of Computer Science & Engineering, Sankalchand Patel College of engg","ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, Sankalchand Patel College of engg","institution_ids":["https://openalex.org/I4210091825"]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab [Palaiseau] (F-91761 Palaiseau - France)","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013119422","display_name":"Fr\u00e9d\u00e9ric Jean","orcid":"https://orcid.org/0000-0001-8170-076X"},"institutions":[{"id":"https://openalex.org/I4210132720","display_name":"Laboratoire d'Optique Appliqu\u00e9e","ror":"https://ror.org/03czns913","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I142476485","https://openalex.org/I201181511","https://openalex.org/I4210098836","https://openalex.org/I4210132720","https://openalex.org/I4210145102","https://openalex.org/I4210145102","https://openalex.org/I4405258625"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Frederic Jean","raw_affiliation_strings":["OC - Optimisation et commande (828, boulevard des Mar\u00e9chaux 91120 Palaiseau - France)"],"affiliations":[{"raw_affiliation_string":"OC - Optimisation et commande (828, boulevard des Mar\u00e9chaux 91120 Palaiseau - France)","institution_ids":["https://openalex.org/I4210132720"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037416922"],"corresponding_institution_ids":["https://openalex.org/I2801658355","https://openalex.org/I4210091825","https://openalex.org/I4210132720"],"apc_list":null,"apc_paid":null,"fwci":3.1536,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96203507,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1566","last_page":"1571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9941999912261963,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9941999912261963,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9912999868392944,"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/fisher-information","display_name":"Fisher information","score":0.8433856964111328},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.7745862007141113},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6788912415504456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6189772486686707},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6013258695602417},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5465351343154907},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5066176652908325},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.47678306698799133},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4649566113948822},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44281578063964844},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43960848450660706},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4150785207748413},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.412492960691452},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.31250423192977905},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3036453127861023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2630555033683777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22468432784080505},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11541783809661865}],"concepts":[{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.8433856964111328},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7745862007141113},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6788912415504456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6189772486686707},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6013258695602417},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5465351343154907},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5066176652908325},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.47678306698799133},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4649566113948822},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44281578063964844},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43960848450660706},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4150785207748413},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.412492960691452},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.31250423192977905},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3036453127861023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2630555033683777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22468432784080505},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11541783809661865},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2017.8263874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8263874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2303.14098","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.14098","pdf_url":"https://arxiv.org/pdf/2303.14098","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-01744226v1","is_oa":false,"landing_page_url":"https://ensta-paris.hal.science/hal-01744226","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC), Dec 2017, Melbourne, Australia. ⟨10.1109/CDC.2017.8263874⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.14098","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.14098","pdf_url":"https://arxiv.org/pdf/2303.14098","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2783827747.pdf","grobid_xml":"https://content.openalex.org/works/W2783827747.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1483307070","https://openalex.org/W1978879785","https://openalex.org/W1979400452","https://openalex.org/W1999131722","https://openalex.org/W2028678875","https://openalex.org/W2056488568","https://openalex.org/W2089063495","https://openalex.org/W2097148013","https://openalex.org/W2098432798","https://openalex.org/W2104130465","https://openalex.org/W2190519390","https://openalex.org/W3100883432","https://openalex.org/W3149349937","https://openalex.org/W4211147054","https://openalex.org/W6696741278"],"related_works":["https://openalex.org/W4252024964","https://openalex.org/W4253883008","https://openalex.org/W1932159282","https://openalex.org/W4285537323","https://openalex.org/W2379312070","https://openalex.org/W2136173754","https://openalex.org/W2110050003","https://openalex.org/W2953025626","https://openalex.org/W2499081552","https://openalex.org/W2366053282"],"abstract_inverted_index":{"This":[0,54],"paper":[1],"presents":[2],"state":[3],"estimation":[4,84],"and":[5,50,62],"stochastic":[6],"optimal":[7,28],"control":[8,20],"gathered":[9],"in":[10],"one":[11],"global":[12],"optimization":[13],"problem":[14],"generating":[15],"dual":[16],"effect":[17],"i.e.":[18],"the":[19,23,27,45,60,79,83],"can":[21],"improve":[22],"future":[24],"estimation.":[25],"As":[26],"policy":[29,36],"is":[30,41],"impossible":[31],"to":[32,44,59,87],"compute,":[33],"a":[34,51,65,68],"sub-optimal":[35],"that":[37,78],"preserves":[38],"this":[39],"coupling":[40],"constructed":[42],"thanks":[43],"Fisher":[46],"Information":[47],"Matrix":[48],"(FIM)":[49],"Particle":[52],"Filter.":[53],"method":[55,81],"has":[56],"been":[57],"applied":[58],"localization":[61],"guidance":[63],"of":[64],"drone":[66],"over":[67],"known":[69],"terrain":[70],"with":[71],"height":[72],"measurements":[73],"only.":[74],"The":[75],"results":[76],"show":[77],"new":[80],"improves":[82],"accuracy":[85],"compared":[86],"nominal":[88],"trajectories.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}