{"id":"https://openalex.org/W3095174237","doi":"https://doi.org/10.1109/icarm54641.2022.9959470","title":"VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems","display_name":"VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W3095174237","doi":"https://doi.org/10.1109/icarm54641.2022.9959470","mag":"3095174237"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959470","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/195718","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034604688","display_name":"Jorge Pe\u00f1a Queralta","orcid":"https://orcid.org/0000-0003-3091-3217"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jorge Pena Queralta","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050580578","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0001-6556-2213"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Qingqing Li","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058759700","display_name":"Fabrizio Schiano","orcid":"https://orcid.org/0000-0002-9472-5381"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabrizio Schiano","raw_affiliation_strings":["Laboratory of Intelligent Systems (LIS), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems (LIS), &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031850966","display_name":"Tomi Westerlund","orcid":"https://orcid.org/0000-0002-1793-2694"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Tomi Westerlund","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.1233,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.99177408,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"87","last_page":"94"},"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":0.9994000196456909,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9955000281333923,"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/odometry","display_name":"Odometry","score":0.8643041849136353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7338320016860962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6923164129257202},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6236931681632996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6098037362098694},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.5980015993118286},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4976675808429718},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4716350734233856},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4703528881072998},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.4651105999946594},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.46430566906929016},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.45504748821258545},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3420255780220032},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.21167832612991333},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08652269840240479}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8643041849136353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7338320016860962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6923164129257202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6236931681632996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6098037362098694},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.5980015993118286},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4976675808429718},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4716350734233856},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4703528881072998},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.4651105999946594},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.46430566906929016},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.45504748821258545},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3420255780220032},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.21167832612991333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08652269840240479},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959470","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:300945","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/195718","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"WoS","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:300945","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/195718","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W247697463","https://openalex.org/W1522692516","https://openalex.org/W2075402943","https://openalex.org/W2097171912","https://openalex.org/W2131569937","https://openalex.org/W2152864241","https://openalex.org/W2342656438","https://openalex.org/W2479778494","https://openalex.org/W2509493982","https://openalex.org/W2536676093","https://openalex.org/W2592580471","https://openalex.org/W2611940445","https://openalex.org/W2787690100","https://openalex.org/W2788056275","https://openalex.org/W2791344016","https://openalex.org/W2799134332","https://openalex.org/W2810688926","https://openalex.org/W2891903559","https://openalex.org/W2916187293","https://openalex.org/W2918649777","https://openalex.org/W2944173748","https://openalex.org/W2950134293","https://openalex.org/W2960081125","https://openalex.org/W2967663764","https://openalex.org/W2968147117","https://openalex.org/W2968704747","https://openalex.org/W2983817546","https://openalex.org/W2999291518","https://openalex.org/W3001988640","https://openalex.org/W3005316764","https://openalex.org/W3008046551","https://openalex.org/W3012268014","https://openalex.org/W3012489130","https://openalex.org/W3013410780","https://openalex.org/W3016493280","https://openalex.org/W3024286373","https://openalex.org/W3047890446","https://openalex.org/W3089503906","https://openalex.org/W3096656822","https://openalex.org/W3099436200","https://openalex.org/W3101038747","https://openalex.org/W3145715369","https://openalex.org/W4213147678","https://openalex.org/W6767162901","https://openalex.org/W6769919642"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Effective":[0],"collaboration":[1],"in":[2,39,89,116],"multi-robot":[3,41],"systems":[4,42],"requires":[5],"accurate":[6],"and":[7,19,46,68,111,125,181],"robust":[8],"estimation":[9,58,74,88],"of":[10,54,108,114,130,152,171,190],"relative":[11,56,86],"localization:":[12],"from":[13],"cooperative":[14,21,24],"manipulation":[15],"to":[16,32,101,140,167],"collaborative":[17,33],"sensing,":[18],"including":[20],"exploration":[22],"or":[23],"transportation.":[25],"This":[26],"paper":[27],"introduces":[28,137],"a":[29,90,146,150],"novel":[30,147],"approach":[31,176],"localization":[34],"for":[35,75,84,186],"dense":[36,131],"scene":[37],"reconstruction":[38,132],"heterogeneous":[40],"comprising":[43],"ground":[44,82,123,173],"robots":[45,83,124,185],"micro-aerial":[47],"vehicles":[48],"(MAVs).":[49],"We":[50],"solve":[51],"the":[52,81,96,102,106,141,153,168,172,187,191],"problem":[53,158],"full":[55,85],"pose":[57,87],"without":[59],"sliding":[60],"time":[61],"windows":[62],"by":[63],"relying":[64],"on":[65],"UWB-based":[66],"ranging":[67],"Visual":[69],"Inertial":[70],"Odometry":[71],"(VIO)-based":[72],"egomotion":[73],"localization,":[76],"while":[77],"exploiting":[78],"lidars":[79,128],"onboard":[80],"single":[91],"reference":[92],"frame.":[93],"During":[94],"operation,":[95],"rigidity":[97],"eigenvalue":[98],"provides":[99],"feedback":[100],"system.":[103,142,192],"To":[104],"tackle":[105],"challenge":[107],"path":[109],"planning":[110],"obstacle":[112],"avoidance":[113],"MAVs":[115],"GNSS-denied":[117],"environments,":[118],"we":[119,144,163],"maintain":[120],"line-of-sight":[121],"between":[122],"MAVs.":[126],"Because":[127],"capable":[129],"have":[133],"limited":[134,169],"FoV,":[135],"this":[136],"new":[138],"constraints":[139,165],"Therefore,":[143],"propose":[145],"formulation":[148],"with":[149,159,179,183],"variant":[151],"Dubins":[154],"multiple":[155],"traveling":[156],"salesman":[157],"neighborhoods":[160],"(DMTSPN)":[161],"where":[162],"include":[164],"related":[166],"FoV":[170],"robots.":[174],"Our":[175],"is":[177],"validated":[178],"simulations":[180],"experiments":[182],"real":[184],"different":[188],"parts":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
