{"id":"https://openalex.org/W2082601281","doi":"https://doi.org/10.1109/icl-gnss.2013.6577272","title":"Swarm exploration and navigation on mars","display_name":"Swarm exploration and navigation on mars","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2082601281","doi":"https://doi.org/10.1109/icl-gnss.2013.6577272","mag":"2082601281"},"language":"en","primary_location":{"id":"doi:10.1109/icl-gnss.2013.6577272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icl-gnss.2013.6577272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 International Conference on Localization and GNSS (ICL-GNSS)","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/A5029109217","display_name":"Stephan Sand","orcid":"https://orcid.org/0000-0001-9502-5654"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"S. Sand","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, Germany","Inst. of Commun. & Navig.frequency, German Aerosp. Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig.frequency, German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633936","display_name":"Siwei Zhang","orcid":"https://orcid.org/0000-0003-4390-458X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Zhang","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, Germany","Inst. of Commun. & Navig.frequency, German Aerosp. Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig.frequency, German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112297779","display_name":"M. Muhlegg","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Muhlegg","raw_affiliation_strings":["Institute of Flight Systems Dynamics and Institute for Communications and Navigation, Technical University of Munich, Munich, Germany","Inst. of Flight Syst. Dynamics, Tech. Univ. of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems Dynamics and Institute for Communications and Navigation, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Flight Syst. Dynamics, Tech. Univ. of Munich, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012772069","display_name":"Guillermo P. Falcon\u00ed","orcid":null},"institutions":[{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Falconi","raw_affiliation_strings":["Institute of Flight Systems Dynamics and Institute for Communications and Navigation, Technical University of Munich, Munich, Germany","Inst. of Flight Syst. Dynamics, Tech. Univ. of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems Dynamics and Institute for Communications and Navigation, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Flight Syst. Dynamics, Tech. Univ. of Munich, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003080129","display_name":"Chen Zhu","orcid":"https://orcid.org/0000-0002-4320-4826"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Zhu","raw_affiliation_strings":["Institute of Flight Systems Dynamics and Institute for Communications and Navigation, Technical University of Munich, Munich, Germany","Inst. of Flight Syst. Dynamics, Tech. Univ. of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems Dynamics and Institute for Communications and Navigation, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Flight Syst. Dynamics, Tech. Univ. of Munich, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061684037","display_name":"Thomas Kr\u00fcger","orcid":"https://orcid.org/0000-0002-1792-8222"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Kruger","raw_affiliation_strings":["Institute of Flight Guidance, Technische Universit\u00e4t Braunschweig, Braunschweig, Germany","Inst. of Flight Guidance, Tech. Univ. Braunschweig, Braunschweig, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Flight Guidance, Technische Universit\u00e4t Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Inst. of Flight Guidance, Tech. Univ. Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003528924","display_name":"Stefan Nowak","orcid":"https://orcid.org/0000-0003-2054-4139"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Nowak","raw_affiliation_strings":["Institute of Flight Guidance, Technische Universit\u00e4t Braunschweig, Braunschweig, Germany","Inst. of Flight Guidance, Tech. Univ. Braunschweig, Braunschweig, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Flight Guidance, Technische Universit\u00e4t Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Inst. of Flight Guidance, Tech. Univ. Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5029109217"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":12.127,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98238622,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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/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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/swarm-behaviour","display_name":"Swarm behaviour","score":0.9223338961601257},{"id":"https://openalex.org/keywords/time-division-multiple-access","display_name":"Time division multiple access","score":0.7156745791435242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6557942628860474},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6178421378135681},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.571160078048706},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.5543738603591919},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5486944913864136},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4946896731853485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29387903213500977},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17908984422683716},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13722720742225647}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.9223338961601257},{"id":"https://openalex.org/C117313154","wikidata":"https://www.wikidata.org/wiki/Q878344","display_name":"Time division multiple access","level":2,"score":0.7156745791435242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6557942628860474},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6178421378135681},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.571160078048706},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5543738603591919},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5486944913864136},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4946896731853485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29387903213500977},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17908984422683716},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13722720742225647},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icl-gnss.2013.6577272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icl-gnss.2013.6577272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 International Conference on Localization and GNSS (ICL-GNSS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:82237","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320314289","display_name":"French Muscular Dystrophy Association","ror":null},{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W157086304","https://openalex.org/W648594167","https://openalex.org/W1572161815","https://openalex.org/W1677409904","https://openalex.org/W1914756871","https://openalex.org/W1969944402","https://openalex.org/W2001814969","https://openalex.org/W2042316011","https://openalex.org/W2044987129","https://openalex.org/W2094990636","https://openalex.org/W2097467365","https://openalex.org/W2110052721","https://openalex.org/W2123844500","https://openalex.org/W2137645178","https://openalex.org/W2138255015","https://openalex.org/W2152671441","https://openalex.org/W2156496074","https://openalex.org/W2336416123","https://openalex.org/W2372116201","https://openalex.org/W4205398292","https://openalex.org/W4231017914","https://openalex.org/W6642892692"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1966857494"],"abstract_inverted_index":{"We":[0],"propose":[1],"autonomous":[2,85],"robotic":[3],"swarm":[4,20,38,45,48,94,129,137,148,161],"exploration":[5],"to":[6],"search":[7],"for":[8,127,135,159],"extra-terrestrial":[9],"life":[10],"in":[11,163],"the":[12,164],"Valles":[13],"Marineris":[14],"canyon":[15],"system":[16],"on":[17],"Mars.":[18],"The":[19,47,61,111],"consists":[21],"of":[22,120,155],"unmanned":[23,28],"ground":[24],"vehicles":[25,30],"(UGVs)":[26],"and":[27,37,56,76],"aerial":[29],"(UAVs).":[31],"Key":[32],"technologies":[33],"are":[34,109],"robust":[35],"flight":[36],"control":[39],"algorithms":[40],"as":[41,43],"well":[42],"infrastructure-less":[44],"navigation.":[46],"navigation":[49,149],"uses":[50],"inertial":[51],"navigation,":[52],"laser":[53],"scanners,":[54],"cameras,":[55],"relative":[57],"radio":[58],"positioning":[59],"systems.":[60],"later":[62,165],"one":[63,101],"employs":[64],"hybrid":[65],"time-division":[66],"multiple":[67,73],"access":[68,74],"(TDMA)":[69],"-":[70],"frequency":[71],"division":[72],"(FDMA)":[75],"interleaved":[77],"round-trip":[78],"delay":[79],"ranging":[80],"measurements.":[81],"For":[82],"TDMA,":[83],"an":[84,153],"distributed":[86,147],"slot":[87,126],"synchronization":[88,112],"algorithm":[89,113],"is":[90,114,132],"presented.We":[91],"present":[92],"a":[93,146],"scenario":[95],"with":[96],"initially":[97],"ten":[98],"elements,":[99,130],"adding":[100],"element":[102],"after":[103],"6.25":[104],"s,":[105],"until":[106],"25":[107,128],"elements":[108,138,162],"active.":[110],"stable":[115,134],"transmitting":[116,139],"only":[117,133],"five":[118],"out":[119],"eight":[121,141],"possible":[122],"symbols":[123,142],"per":[124,143],"TDMA":[125],"but":[131],"17":[136],"all":[140],"slot.":[144],"Nevertheless,":[145],"particle":[150],"filter":[151],"achieves":[152],"accuracy":[154],"1m":[156],"or":[157],"better":[158],"21":[160],"case.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
