{"id":"https://openalex.org/W3026041179","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095821","title":"M-Estimator Application in Real-Time Sensor Fusion for Smooth Position Feedback of Heavy-Duty Field Robots","display_name":"M-Estimator Application in Real-Time Sensor Fusion for Smooth Position Feedback of Heavy-Duty Field Robots","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3026041179","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095821","mag":"3026041179"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram47153.2019.9095821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5034134791","display_name":"Henri Liikanen","orcid":null},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Henri Liikanen","raw_affiliation_strings":["Unit of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Unit of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025625789","display_name":"Mohammad M. Aref","orcid":"https://orcid.org/0000-0001-8326-8421"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Mohammad M. Aref","raw_affiliation_strings":["Unit of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Unit of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Unit of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland"],"affiliations":[{"raw_affiliation_string":"Unit of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034134791"],"corresponding_institution_ids":["https://openalex.org/I166825849"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.23358067,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"368","last_page":"373"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9921000003814697,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/control-theory","display_name":"Control theory (sociology)","score":0.6180330514907837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5995011329650879},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5520053505897522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5404016375541687},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5384995341300964},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.46727287769317627},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4251488149166107},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3496316373348236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27079087495803833}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6180330514907837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5995011329650879},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5520053505897522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5404016375541687},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5384995341300964},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.46727287769317627},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4251488149166107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3496316373348236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27079087495803833},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cis-ram47153.2019.9095821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/215893","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/215893","pdf_url":null,"source":{"id":"https://openalex.org/S7407055260","display_name":"Trepo - Institutional Repository of Tampere University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1638159426","https://openalex.org/W1968840993","https://openalex.org/W2037602582","https://openalex.org/W2071001433","https://openalex.org/W2118879395","https://openalex.org/W2536207751","https://openalex.org/W2737837921","https://openalex.org/W2888653684","https://openalex.org/W2972738511"],"related_works":["https://openalex.org/W4323767814","https://openalex.org/W4387698348","https://openalex.org/W2115775154","https://openalex.org/W1964715412","https://openalex.org/W2282123131","https://openalex.org/W2605703141","https://openalex.org/W2122871747","https://openalex.org/W2385065981","https://openalex.org/W3114279067","https://openalex.org/W2555929982"],"abstract_inverted_index":{"In":[0],"this":[1,181],"paper,":[2],"we":[3,170],"study":[4],"the":[5,55,89,112,128,132,137,143,150,153,162,165,172,177,188],"performance":[6],"of":[7,22,74,111,131,149,164,176,180,187],"a":[8,15,31,121],"complementary":[9],"filter":[10],"with":[11,40,59,88],"adaptive":[12],"weights":[13,81],"in":[14,67,184],"sensor":[16,138],"fusion":[17,139],"application":[18],"for":[19,82],"real-time":[20,57,178],"localization":[21],"an":[23],"omnidirectional":[24],"field":[25],"robot.":[26,133,189],"The":[27,92],"test-case":[28,114],"robot":[29],"is":[30,52,140],"large,":[32],"four-wheel":[33],"drive":[34],"and":[35,44,47,109,116,145,174],"steer":[36],"(4WDS)":[37],"construction":[38],"vehicle":[39],"nonlinear":[41],"internal":[42],"dynamics":[43],"hydraulic":[45],"driving":[46,107],"steering":[48,110],"actuators.":[49],"Our":[50],"objective":[51],"to":[53,142],"provide":[54],"vehicle's":[56],"controller":[58],"robust,":[60],"smooth":[61],"feedback":[62],"that":[63,136],"prevents":[64],"unnecessary":[65],"oscillations":[66,156],"steering,":[68],"which":[69],"can":[70],"waste":[71],"significant":[72],"amounts":[73],"energy.":[75],"We":[76,134],"do":[77],"so":[78],"by":[79,159],"assigning":[80],"measurements":[83],"based":[84,95],"on":[85,96,127],"their":[86],"consistency":[87],"robot's":[90],"motions.":[91],"calculations":[93],"are":[94,157],"two":[97],"main":[98],"data":[99,118],"sources:":[100],"(1)":[101],"measured":[102],"velocity":[103],"vectors":[104],"from":[105,120],"wheel":[106],"(odometer)":[108],"4WDS":[113],"robot;":[115],"(2)":[117],"obtained":[119],"differential":[122],"global":[123,166],"navigation":[124],"satellite":[125],"system":[126],"absolute":[129],"pose":[130],"show":[135],"robust":[141],"noise":[144],"single":[146],"point":[147],"failures":[148],"sensors,":[151],"while":[152],"maximum":[154],"heading":[155],"reduced":[158],"70%-95%,":[160],"preserving":[161],"accuracy":[163],"positioning":[167],"system.":[168],"Moreover,":[169],"demonstrate":[171],"feasibility":[173],"efficacy":[175],"implementation":[179],"filtering":[182],"method":[183],"path-following":[185],"control":[186]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}
