{"id":"https://openalex.org/W1973428908","doi":"https://doi.org/10.1109/icarsc.2014.6849769","title":"Design and validation of a linear parameter varying localization system","display_name":"Design and validation of a linear parameter varying localization system","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1973428908","doi":"https://doi.org/10.1109/icarsc.2014.6849769","mag":"1973428908"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2014.6849769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2014.6849769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5010707059","display_name":"Joao Barbosa","orcid":"https://orcid.org/0000-0002-8178-9837"},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Joao Barbosa","raw_affiliation_strings":["IDMEC-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","IDMEC-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"IDMEC-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I121345201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034459552","display_name":"Carlos Cardeira","orcid":"https://orcid.org/0000-0002-7966-4648"},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Carlos Cardeira","raw_affiliation_strings":["IDMEC-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","IDMEC-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"IDMEC-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I121345201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024492269","display_name":"Paulo Oliveira","orcid":"https://orcid.org/0000-0002-5799-390X"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Paulo Oliveira","raw_affiliation_strings":["IDMEC and ISR-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","IDMEC, Univ. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDMEC and ISR-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"IDMEC, Univ. de Lisboa, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062126511","display_name":"Pedro Batista","orcid":"https://orcid.org/0000-0001-6079-0436"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Batista","raw_affiliation_strings":["ISR-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","ISR-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISR-Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I203847022"]},{"raw_affiliation_string":"ISR-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]},{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO","PT"],"is_corresponding":false,"raw_author_name":"Carlos Silvestre","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Macau, Macao","ISR-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Macau, Macao","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"ISR-Inst. Super. Tecnico, Univ. de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9255,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73986221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"98","last_page":"103"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9990000128746033,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987000226974487,"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":0.7300279140472412},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.7054429054260254},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6646651029586792},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6610009670257568},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6184483170509338},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5979580283164978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5498594641685486},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5333234071731567},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5101414322853088},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49741652607917786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44235724210739136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3972102403640747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3376033306121826}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7300279140472412},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.7054429054260254},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6646651029586792},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6610009670257568},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6184483170509338},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5979580283164978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5498594641685486},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5333234071731567},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5101414322853088},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49741652607917786},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44235724210739136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3972102403640747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3376033306121826},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc.2014.6849769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2014.6849769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W2011754354","https://openalex.org/W2114193611","https://openalex.org/W2127578024","https://openalex.org/W2146881125","https://openalex.org/W2150496754","https://openalex.org/W2165468899","https://openalex.org/W2168502273","https://openalex.org/W2727085722","https://openalex.org/W2728971719","https://openalex.org/W6740810610"],"related_works":["https://openalex.org/W2142338363","https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W4200210047","https://openalex.org/W1969991288","https://openalex.org/W2551663027","https://openalex.org/W2614963770","https://openalex.org/W1511332864","https://openalex.org/W287737911","https://openalex.org/W1665215014"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"and":[3,21,66,71,82,96,106,112,147],"experimentally":[4],"validates":[5],"a":[6,92,97],"landmark-based":[7],"absolute":[8],"mobile":[9,94],"robot":[10,95],"localization":[11,125],"system,":[12],"composed":[13],"by":[14,63,68,75],"two":[15],"filters,":[16],"one":[17],"for":[18,24,36,102],"attitude":[19,72],"estimation":[20,28],"the":[22,33,37,129,141,150],"other":[23],"position":[25,70,107,146],"estimation.":[26],"The":[27,51],"is":[29,137],"carried":[30,87],"out":[31],"in":[32,121],"body-frame":[34],"allowing":[35],"model":[38],"kinematics":[39],"to":[40,131],"be":[41,132],"LPV":[42],"(Linear":[43],"Parameter":[44],"Varying),":[45],"thus":[46],"using":[47],"no":[48],"approximate":[49],"linearisation.":[50],"resultant":[52],"estimators":[53],"respect":[54],"GAS":[55],"(globally":[56],"asymptotically":[57],"stable)":[58],"error":[59],"dynamics,":[60],"are":[61,118],"parametrized":[62],"odometry":[64],"data":[65],"corrected":[67],"landmark":[69,130],"measurements":[73],"provided":[74],"an":[76,122],"on-board":[77],"RGB-D":[78],"(red,":[79],"green,":[80],"blue":[81],"depth)":[83],"sensor.":[84],"Experiments":[85],"were":[86],"out,":[88],"making":[89],"use":[90],"of":[91,140,144],"wheeled":[93],"Qualysis":[98],"Motion":[99],"Tracking":[100],"System":[101],"ground-truth":[103],"validation.":[104],"Attitude":[105],"as":[108,110],"well":[109],"linear":[111],"angular":[113],"slippages,":[114],"both":[115,145],"proven":[116],"observable,":[117],"estimated,":[119],"resulting":[120],"effective":[123],"real-time":[124],"system":[126,151],"without":[127],"requiring":[128],"always":[133],"visible.":[134],"Error":[135],"convergence":[136],"achieved":[138],"regardless":[139],"initial":[142],"estimate":[143],"attitude,":[148],"validating":[149],"global":[152],"stability.":[153]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
