{"id":"https://openalex.org/W2009664491","doi":"https://doi.org/10.1109/icca.2011.6137952","title":"Filters for mobile robots: EKF, UKF and sensor switching - experimental results","display_name":"Filters for mobile robots: EKF, UKF and sensor switching - experimental results","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2009664491","doi":"https://doi.org/10.1109/icca.2011.6137952","mag":"2009664491"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2011.6137952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2011.6137952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 9th IEEE International Conference on Control and Automation (ICCA)","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/A5038868858","display_name":"Luigi D\u2019Alfonso","orcid":"https://orcid.org/0000-0001-7251-1334"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi D'Alfonso","raw_affiliation_strings":["DEIS, Universit\u00e0 della Calabria, Rende, Italy","DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, Rende, Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084252716","display_name":"Walter L\u00facia","orcid":"https://orcid.org/0000-0003-3776-8331"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Walter Lucia","raw_affiliation_strings":["DEIS, Universit\u00e0 della Calabria, Rende, Italy","DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, Rende, Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039562094","display_name":"P. Muraca","orcid":null},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pietro Muraca","raw_affiliation_strings":["DEIS, Universit\u00e0 della Calabria, Rende, Italy","DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, Rende, Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055217910","display_name":"Paolo Pugliese","orcid":"https://orcid.org/0000-0003-0313-623X"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Pugliese","raw_affiliation_strings":["DEIS, Universit\u00e0 della Calabria, Rende, Italy","DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, Rende, Italy","institution_ids":["https://openalex.org/I45204951"]},{"raw_affiliation_string":"DEIS, Universit\u00e0 della Calabria, 87030 Rende (Cs), Italy","institution_ids":["https://openalex.org/I45204951"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I45204951"],"apc_list":null,"apc_paid":null,"fwci":0.8093,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70031282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"925","last_page":"930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9972000122070312,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8734763264656067},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7309094667434692},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6791605949401855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6096017956733704},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5663560628890991},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.553905189037323},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5382312536239624},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5092586278915405},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4955481290817261},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4723564088344574},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.46223336458206177},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.41506925225257874},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4123237729072571},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3379397392272949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30699455738067627},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13869470357894897},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05749586224555969}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8734763264656067},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7309094667434692},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6791605949401855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096017956733704},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5663560628890991},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.553905189037323},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5382312536239624},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5092586278915405},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4955481290817261},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4723564088344574},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.46223336458206177},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.41506925225257874},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4123237729072571},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3379397392272949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30699455738067627},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13869470357894897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05749586224555969},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2011.6137952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2011.6137952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 9th IEEE International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1531218787","https://openalex.org/W1988497975","https://openalex.org/W1994703549","https://openalex.org/W2022406843","https://openalex.org/W2073118238","https://openalex.org/W2099544223","https://openalex.org/W2101051269","https://openalex.org/W2105292093","https://openalex.org/W2107802551","https://openalex.org/W2108216972","https://openalex.org/W2119245808","https://openalex.org/W2123487311","https://openalex.org/W2132074394","https://openalex.org/W2151280929","https://openalex.org/W2165777968","https://openalex.org/W3097096317","https://openalex.org/W4214503934"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1035502194","https://openalex.org/W2182059946","https://openalex.org/W2164404293","https://openalex.org/W4206024512","https://openalex.org/W2966342863","https://openalex.org/W2483158495","https://openalex.org/W2053335193","https://openalex.org/W1573859018"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2],"we":[3],"compare":[4],"the":[5,15,20,26,49,74,80,84],"performance":[6],"of":[7,30,73,83],"two":[8,35,75],"well":[9],"known":[10],"filters":[11,36],"for":[12],"nonlinear":[13],"models,":[14],"Extended":[16],"Kalman":[17,22],"Filter":[18],"and":[19,28,51,63],"Unscented":[21],"Filter,":[23],"in":[24,78],"estimating":[25],"position":[27],"orientation":[29],"a":[31,52,70],"mobile":[32],"robot.":[33],"The":[34,66],"are":[37,46,86],"driven":[38],"by":[39,42],"measurements":[40],"taken":[41],"ultrasonic":[43],"sensors":[44,54],"that":[45],"located":[47],"onboard":[48],"robot,":[50],"switching":[53],"activation":[55],"policy":[56],"is":[57],"devised,":[58],"which":[59],"allows":[60],"power":[61],"saving":[62],"accurate":[64],"tracking.":[65],"experimental":[67],"results":[68],"show":[69],"substantial":[71],"equivalence":[72],"filters,":[76],"although":[77],"principle":[79],"approximating":[81],"properties":[82],"UKF":[85],"much":[87],"better.":[88]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
