{"id":"https://openalex.org/W4391021947","doi":"https://doi.org/10.1109/cdc49753.2023.10383940","title":"Moving Target Estimation and Active Tracking in Multi-Robot Systems","display_name":"Moving Target Estimation and Active Tracking in Multi-Robot Systems","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391021947","doi":"https://doi.org/10.1109/cdc49753.2023.10383940"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383940","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","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/A5100639068","display_name":"Jie Xu","orcid":"https://orcid.org/0000-0001-6632-7629"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jie Xu","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059298900","display_name":"Pengxiang Zhu","orcid":"https://orcid.org/0000-0002-0288-7587"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pengxiang Zhu","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608359","display_name":"Yanyu Zhang","orcid":"https://orcid.org/0000-0001-8992-1719"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanyu Zhang","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100339137","display_name":"Wei Ren","orcid":"https://orcid.org/0000-0002-2818-9752"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Ren","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100639068"],"corresponding_institution_ids":["https://openalex.org/I103635307"],"apc_list":null,"apc_paid":null,"fwci":0.8824,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82314286,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6972","last_page":"6977"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7235714197158813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6430789232254028},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.633459210395813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5674111247062683},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5673868060112},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5609181523323059},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5405361652374268},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46812689304351807},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4402889907360077},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4395091235637665},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38641631603240967},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15366780757904053}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7235714197158813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6430789232254028},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.633459210395813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5674111247062683},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5673868060112},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5609181523323059},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5405361652374268},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46812689304351807},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4402889907360077},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4395091235637665},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38641631603240967},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15366780757904053},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383940","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G7925318606","display_name":null,"funder_award_id":"CMMI-2027139","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W615006660","https://openalex.org/W1126974217","https://openalex.org/W1584640914","https://openalex.org/W1972785301","https://openalex.org/W1974513678","https://openalex.org/W1975511713","https://openalex.org/W1984747682","https://openalex.org/W2012807278","https://openalex.org/W2038561575","https://openalex.org/W2067826918","https://openalex.org/W2092401564","https://openalex.org/W2114144879","https://openalex.org/W2118223742","https://openalex.org/W2120007881","https://openalex.org/W2170229019","https://openalex.org/W2790514337","https://openalex.org/W2964162338","https://openalex.org/W3135895399","https://openalex.org/W3205757493","https://openalex.org/W4295854915","https://openalex.org/W4362689370"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4387559098","https://openalex.org/W4205669743","https://openalex.org/W4367281123","https://openalex.org/W4387452254","https://openalex.org/W4200210047","https://openalex.org/W2103062922","https://openalex.org/W1969991288","https://openalex.org/W2770318696","https://openalex.org/W2551663027"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,17,55,149],"comprehensive":[6],"solution":[7,188],"for":[8,114,189],"3-D":[9,79],"active":[10,166,193],"target":[11,49,102,109,125,135,167,194],"tracking":[12,168],"with":[13],"multiple":[14,22],"robots":[15,23,77],"in":[16,78],"fully":[18],"distributed":[19],"setting.":[20],"Here":[21],"cooperatively":[24],"estimate":[25],"their":[26,36],"own":[27,61,68],"states":[28,128],"and":[29,33,48,66,106,119,126,156,164,172,186,192],"the":[30,43,63,91,121,124,131,140],"target's":[31,64],"state":[32,50,56],"actively":[34],"plan":[35],"motions":[37],"to":[38,161],"achieve":[39,162],"better":[40],"estimation":[41,92,115],"of":[42,59,74,133],"target.":[44],"For":[45,146],"cooperative":[46,85,190],"localization":[47,138,191],"estimation,":[51],"each":[52],"robot":[53,127],"maintains":[54],"vector":[57],"consisting":[58],"its":[60,67,107],"state,":[62,65],"cloned":[69],"history":[70],"states.":[71],"The":[72],"challenge":[73],"localizing":[75],"moving":[76],"is":[80,144,159],"addressed":[81],"by":[82,94],"using":[83,95],"multi-robot":[84],"visual-inertial":[86],"odometry":[87],"algorithm,":[88],"which":[89],"improves":[90],"accuracy":[93],"environmental":[96],"common":[97],"feature":[98],"measurements.":[99],"Each":[100],"robot's":[101],"measurement":[103],"(if":[104],"available)":[105],"neighbors'":[108],"estimators":[110],"are":[111],"then":[112],"exploited":[113],"updates.":[116],"To":[117],"preserve":[118],"update":[120],"correlations":[122],"between":[123],"while":[129,169],"limiting":[130],"influence":[132],"bad":[134],"estimates":[136],"on":[137],"accuracy,":[139],"Schmidt-Kalman":[141],"Filter":[142],"framework":[143],"adopted.":[145],"motion":[147],"planning,":[148],"gradient-based":[150],"approach":[151],"that":[152,179],"uses":[153],"differentiable":[154],"field-of-view":[155],"potential":[157],"functions":[158],"employed":[160],"efficient":[163,187],"accurate":[165,185],"avoiding":[170],"collisions":[171],"maintaining":[173],"communication":[174],"connectivity.":[175],"Numerous":[176],"simulations":[177],"show":[178],"our":[180],"proposed":[181],"algorithm":[182],"provides":[183],"an":[184],"tracking.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}