{"id":"https://openalex.org/W2961516005","doi":"https://doi.org/10.1109/humanoids43949.2019.9035005","title":"Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers","display_name":"Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2961516005","doi":"https://doi.org/10.1109/humanoids43949.2019.9035005","mag":"2961516005"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-02183498","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084681835","display_name":"M\u00e9d\u00e9ric Fourmy","orcid":null},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mederic Fourmy","raw_affiliation_strings":["LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086768424","display_name":"Dinesh Atchuthan","orcid":null},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dinesh Atchuthan","raw_affiliation_strings":["LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088761477","display_name":"Joan Sol\u00e0","orcid":"https://orcid.org/0000-0002-2933-3381"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Joan Sola","raw_affiliation_strings":["LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053901723","display_name":"Thomas Flayols","orcid":"https://orcid.org/0000-0001-8078-2206"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thomas Flayols","raw_affiliation_strings":["LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5084681835"],"corresponding_institution_ids":["https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":12.8665,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98053725,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9977999925613403,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.98580002784729,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8956468105316162},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8231245279312134},{"id":"https://openalex.org/keywords/fiducial-marker","display_name":"Fiducial marker","score":0.77213454246521},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7490228414535522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7252092361450195},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.722354531288147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7192856073379517},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.674578070640564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5672070384025574},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5438895225524902},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.49594196677207947},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4793044626712799},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4655037522315979},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.44886481761932373},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4122255742549896},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3848726451396942}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8956468105316162},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8231245279312134},{"id":"https://openalex.org/C173974348","wikidata":"https://www.wikidata.org/wiki/Q1469893","display_name":"Fiducial marker","level":2,"score":0.77213454246521},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7490228414535522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7252092361450195},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.722354531288147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7192856073379517},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.674578070640564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5672070384025574},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5438895225524902},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.49594196677207947},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4793044626712799},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4655037522315979},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.44886481761932373},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4122255742549896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3848726451396942},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02183498v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02183498","pdf_url":null,"source":{"id":"https://openalex.org/S4406922276","display_name":"INRIA a CCSD electronic archive server","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.archives-ouvertes.fr/hal-02183498","raw_type":"info:eu-repo/semantics/preprint"},{"id":"pmh:oai:HAL:hal-02183498v4","is_oa":true,"landing_page_url":"https://hal.science/hal-02183498","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids 2019), Oct 2019, Toronto, Canada. &#x27E8;10.1109/Humanoids43949.2019.9035005&#x27E9;","raw_type":"Conference papers"},{"id":"pmh:oai:digital.csic.es:10261/206456","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/206456","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"art\u00edculo"},{"id":"pmh:oai:upcommons.upc.edu:2117/187253","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/187253","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02183498v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02183498","pdf_url":null,"source":{"id":"https://openalex.org/S4406922276","display_name":"INRIA a CCSD electronic archive server","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.archives-ouvertes.fr/hal-02183498","raw_type":"info:eu-repo/semantics/preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1964339024","https://openalex.org/W2005099894","https://openalex.org/W2056679719","https://openalex.org/W2091790851","https://openalex.org/W2097525305","https://openalex.org/W2114125542","https://openalex.org/W2154459632","https://openalex.org/W2296360731","https://openalex.org/W2482726005","https://openalex.org/W2565233142","https://openalex.org/W2747975657","https://openalex.org/W2750656378","https://openalex.org/W2771387334","https://openalex.org/W2794127568","https://openalex.org/W2808027946","https://openalex.org/W2889693550","https://openalex.org/W2902093375","https://openalex.org/W2903112517","https://openalex.org/W2909157769","https://openalex.org/W2917914069","https://openalex.org/W2940914777","https://openalex.org/W2963348713","https://openalex.org/W2963996863","https://openalex.org/W2980385299","https://openalex.org/W3105048402","https://openalex.org/W3105214950","https://openalex.org/W3125449081","https://openalex.org/W4241459016","https://openalex.org/W4248612454","https://openalex.org/W4289145348","https://openalex.org/W6664796137","https://openalex.org/W6717357538","https://openalex.org/W6756279856","https://openalex.org/W6769412159","https://openalex.org/W6822935082"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W3105866016","https://openalex.org/W2412578866","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Current":[0],"locomotion":[1],"algorithms":[2],"in":[3,75,78,80,96,114],"structured":[4],"(in-door)":[5],"3D":[6,116],"environments":[7],"require":[8],"an":[9,150],"accurate":[10],"localization.":[11],"The":[12],"several":[13],"and":[14,47,69,149],"diverse":[15],"sensors":[16,46],"typically":[17],"embedded":[18],"on":[19,153],"legged":[20],"robots":[21],"(IMU,":[22],"coders,":[23],"vision":[24,68],"and/or":[25],"LIDARS)":[26],"should":[27],"make":[28],"it":[29],"possible":[30,140],"if":[31],"properly":[32,178],"fused.":[33],"Yet":[34],"this":[35,97],"is":[36,83,93,162,177],"a":[37,88,94,104,111,115,125,135,154],"difficult":[38],"task":[39],"due":[40],"to":[41,87,101,138,164,184,188,194],"the":[42,48,52,72,85,129,166,175,195,198],"heterogeneity":[43],"of":[44,51,131,146,197],"these":[45],"real-time":[49],"requirement":[50],"control.":[53],"While":[54],"previous":[55],"works":[56],"were":[57],"using":[58],"staggered":[59],"approaches":[60],"(odometry":[61],"at":[62],"high":[63],"frequency,":[64],"sparsely":[65],"corrected":[66],"from":[67],"LIDAR":[70],"localization),":[71],"recent":[73],"progress":[74],"optimal":[76],"estimation,":[77],"particular":[79],"visual-inertial":[81,105],"localization,":[82],"paving":[84],"way":[86],"holistic":[89],"fusion.":[90],"This":[91,180],"paper":[92],"contribution":[95,127,137,152],"direction.":[98],"We":[99,123],"propose":[100],"quantify":[102],"how":[103],"navigation":[106],"system":[107,161],"can":[108],"accurately":[109],"localize":[110,165],"humanoid":[112,155],"robot":[113,167],"indoor":[117],"environment":[118,176],"tagged":[119],"with":[120,157,168],"fiducial":[121,147],"markers.":[122],"introduce":[124],"theoretical":[126],"strengthening":[128],"formulation":[130],"Forster's":[132],"IMU":[133],"pre-integration,":[134],"practical":[136],"avoid":[139],"ambiguity":[141],"raised":[142],"by":[143],"pose":[144],"estimation":[145],"markers,":[148],"experimental":[151],"dataset":[156],"ground":[158],"truth.":[159],"Our":[160],"able":[163],"less":[169],"than":[170],"2":[171],"cm":[172],"errors":[173],"once":[174],"mapped.":[179],"would":[181],"naturally":[182],"extend":[183],"additional":[185],"measurements":[186],"corresponding":[187],"leg":[189],"odometry":[190],"(kinematic":[191],"factors)":[192],"thanks":[193],"genericity":[196],"proposed":[199],"pre-integration":[200],"algebra.":[201]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
