{"id":"https://openalex.org/W2984603614","doi":"https://doi.org/10.1109/icca.2019.8899574","title":"A Fault-tolerant Architecture for Mobile Robot Localization","display_name":"A Fault-tolerant Architecture for Mobile Robot Localization","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2984603614","doi":"https://doi.org/10.1109/icca.2019.8899574","mag":"2984603614"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2019.8899574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","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/A5081005685","display_name":"Zuoquan Zhao","orcid":"https://orcid.org/0000-0002-7954-5083"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zuoquan Zhao","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,P.R.China,310027","College of Control Science and Engineering, Zhejiang University, P.R.China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,P.R.China,310027","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, P.R.China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100663493","display_name":"Jiadong Wang","orcid":"https://orcid.org/0000-0002-0388-5794"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiadong Wang","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,P.R.China,310027","College of Control Science and Engineering, Zhejiang University, P.R.China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,P.R.China,310027","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, P.R.China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046363762","display_name":"Jiawei Cao","orcid":"https://orcid.org/0000-0003-3920-7458"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I162266279","display_name":"Temasek Life Sciences Laboratory","ror":"https://ror.org/0574eex11","country_code":"SG","type":"facility","lineage":["https://openalex.org/I162266279"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jiawei Cao","raw_affiliation_strings":["National University of Singapore,Temasek Laboratories,Singapore,117411","Temasek Laboratories, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Temasek Laboratories,Singapore,117411","institution_ids":["https://openalex.org/I162266279","https://openalex.org/I165932596"]},{"raw_affiliation_string":"Temasek Laboratories, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101716729","display_name":"Wenchao Gao","orcid":"https://orcid.org/0000-0002-8994-8740"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wenchao Gao","raw_affiliation_strings":["Institute for Infocomm Research, A&#x002A;STAR,Robotics Department,Singapore,138632","Robotics Department, Institute for Infocomm Research, A*STAR, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, A&#x002A;STAR,Robotics Department,Singapore,138632","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Robotics Department, Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041199618","display_name":"Qinyuan Ren","orcid":"https://orcid.org/0000-0001-9487-2675"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyuan Ren","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,P.R.China,310027","College of Control Science and Engineering, Zhejiang University, P.R.China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,P.R.China,310027","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, P.R.China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5081005685"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":2.7769,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.90868506,"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":"584","last_page":"589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983999729156494,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8367847204208374},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8262923955917358},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.7896071672439575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5794896483421326},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5510842204093933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5233199596405029},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.49885010719299316},{"id":"https://openalex.org/keywords/information-fusion","display_name":"Information fusion","score":0.4713308811187744},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.4617012143135071},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4388194680213928},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4385482668876648},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.40556231141090393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3477410674095154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34729623794555664},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.330263614654541},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.25788426399230957},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.2284814715385437},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.08826735615730286}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8367847204208374},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8262923955917358},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.7896071672439575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5794896483421326},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5510842204093933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5233199596405029},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.49885010719299316},{"id":"https://openalex.org/C2982962833","wikidata":"https://www.wikidata.org/wiki/Q17092450","display_name":"Information fusion","level":2,"score":0.4713308811187744},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.4617012143135071},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4388194680213928},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4385482668876648},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.40556231141090393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3477410674095154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34729623794555664},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.330263614654541},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25788426399230957},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.2284814715385437},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.08826735615730286},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2019.8899574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2019.8899574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W168710216","https://openalex.org/W1558979968","https://openalex.org/W1587957970","https://openalex.org/W1638159426","https://openalex.org/W2044115878","https://openalex.org/W2081096385","https://openalex.org/W2097427210","https://openalex.org/W2106502371","https://openalex.org/W2138862930","https://openalex.org/W2149012351","https://openalex.org/W2151916095","https://openalex.org/W2157124238","https://openalex.org/W2411093439","https://openalex.org/W2535547924","https://openalex.org/W2551817335","https://openalex.org/W3102327032"],"related_works":["https://openalex.org/W2578404781","https://openalex.org/W2153096481","https://openalex.org/W2148616436","https://openalex.org/W2102525122","https://openalex.org/W4245282135","https://openalex.org/W4306316843","https://openalex.org/W2130594209","https://openalex.org/W2036953450","https://openalex.org/W4300955944","https://openalex.org/W2170004886"],"abstract_inverted_index":{"To":[0],"improve":[1],"the":[2,17,26,52,54,75,83,86,96],"reliability":[3],"of":[4,19,28,77,79,85],"perception,":[5],"autonomous":[6],"mobile":[7,40,47],"robots":[8],"often":[9],"obtain":[10],"environmental":[11],"information":[12],"from":[13],"multiple":[14],"sensors.":[15],"However,":[16],"redundancy":[18,78],"sensors":[20],"and":[21,43,68],"extra":[22],"fusion":[23],"process":[24],"increase":[25],"risks":[27],"system":[29],"failure.":[30],"In":[31,51],"this":[32],"paper,":[33],"a":[34,44],"fault-tolerance":[35,87],"architecture":[36,88],"is":[37,49,89],"proposed":[38],"for":[39],"robot":[41,48,97],"localization":[42,56],"differential":[45],"drive":[46],"investigated.":[50],"architecture,":[53],"relative/absolute":[55],"methods":[57],"are":[58,71],"fused":[59],"by":[60,73],"Extended":[61],"Kalman":[62],"Filters":[63],"(EKFs).":[64],"Furthermore,":[65],"fault":[66,69],"detection":[67],"identification":[70],"accomplished":[72],"comparing":[74],"outputs":[76],"fusing":[80],"processes.":[81],"Finally,":[82],"effectiveness":[84],"verified":[90],"in":[91,95],"several":[92],"experiments":[93],"conducted":[94],"prototype.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
