{"id":"https://openalex.org/W3151211169","doi":"https://doi.org/10.1109/icm46511.2021.9385671","title":"Localization of Wheeled Mobile Robots from Slip Ratio Estimation with Simple Model","display_name":"Localization of Wheeled Mobile Robots from Slip Ratio Estimation with Simple Model","publication_year":2021,"publication_date":"2021-03-07","ids":{"openalex":"https://openalex.org/W3151211169","doi":"https://doi.org/10.1109/icm46511.2021.9385671","mag":"3151211169"},"language":"en","primary_location":{"id":"doi:10.1109/icm46511.2021.9385671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm46511.2021.9385671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Mechatronics (ICM)","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/A5022400687","display_name":"Urara Kono","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Urara Kono","raw_affiliation_strings":["The University of Tokyo, Kashiwa, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013219761","display_name":"Hiroshi Fujimoto","orcid":"https://orcid.org/0000-0002-0979-5992"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Fujimoto","raw_affiliation_strings":["The University of Tokyo, Kashiwa, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108536663","display_name":"Yoichi Hori","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoichi Hori","raw_affiliation_strings":["The University of Tokyo, Kashiwa, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Kashiwa, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1698,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.43717294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8923221826553345},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.7300031185150146},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7155591249465942},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7121721506118774},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6891262531280518},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6706945896148682},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6353017687797546},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6228297352790833},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.550823986530304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5389083623886108},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4856754541397095},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45825234055519104},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45027580857276917},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4204794466495514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41091880202293396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34349334239959717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2916508913040161},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2691507339477539},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1155155599117279},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0988733172416687}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8923221826553345},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.7300031185150146},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7155591249465942},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7121721506118774},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6891262531280518},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6706945896148682},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6353017687797546},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6228297352790833},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.550823986530304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5389083623886108},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4856754541397095},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45825234055519104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45027580857276917},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4204794466495514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41091880202293396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34349334239959717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2916508913040161},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2691507339477539},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1155155599117279},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0988733172416687},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icm46511.2021.9385671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm46511.2021.9385671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2019708972","https://openalex.org/W2024773031","https://openalex.org/W2042472854","https://openalex.org/W2048139885","https://openalex.org/W2069635875","https://openalex.org/W2070574914","https://openalex.org/W2097108504","https://openalex.org/W2101408303","https://openalex.org/W2102940480","https://openalex.org/W2122031319","https://openalex.org/W2129193553","https://openalex.org/W2130132683","https://openalex.org/W2156782387","https://openalex.org/W2159003705","https://openalex.org/W2169589576","https://openalex.org/W2169823756","https://openalex.org/W2333250796","https://openalex.org/W2885954478","https://openalex.org/W2961619538","https://openalex.org/W3090242228","https://openalex.org/W4238554946","https://openalex.org/W4243422069","https://openalex.org/W6662577766","https://openalex.org/W6675262391","https://openalex.org/W6679174276","https://openalex.org/W6685071249"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W1585087611","https://openalex.org/W3151211169"],"abstract_inverted_index":{"This":[0,44],"paper":[1],"proposes":[2],"a":[3,112],"localization":[4,127],"method":[5,45],"by":[6],"estimating":[7],"the":[8,23,48,57,68,82,85,118,124],"slip":[9,16,40],"ratio":[10,17],"of":[11,25,91,126],"wheeled":[12],"mobile":[13],"robots.":[14],"The":[15,88,107],"estimator":[18],"is":[19,60,64,72,93],"designed":[20],"based":[21],"on":[22,114],"equations":[24],"motion.":[26],"Input":[27],"torque":[28,92],"and":[29,34,39,84,117],"encoders":[30],"data":[31],"are":[32,42],"used,":[33],"driving":[35,58,70],"force,":[36],"vehicle":[37],"velocity,":[38],"rate":[41],"estimated.":[43],"can":[46],"estimate":[47],"robot's":[49,86],"position":[50,101],"accurately":[51],"without":[52],"visual":[53],"odometry":[54],"(VO)":[55],"when":[56],"resistance":[59,71,83],"obtained.":[61],"When":[62],"VO":[63],"available,":[65],"even":[66],"if":[67],"obtained":[69],"different":[73],"from":[74],"its":[75],"true":[76],"value,":[77],"instantaneous":[78],"speed":[79],"observer":[80],"updates":[81],"velocity.":[87],"sampling":[89],"time":[90],"very":[94],"short,":[95],"which":[96],"allows":[97],"us":[98],"to":[99,129],"obtain":[100],"estimation":[102],"much":[103],"faster":[104],"than":[105],"VO.":[106],"experiments":[108],"were":[109],"conducted":[110],"with":[111],"robot":[113],"alumina":[115],"balls,":[116],"proposed":[119],"methods":[120],"showed":[121],"improvements":[122],"in":[123],"accuracy":[125],"compared":[128],"wheel":[130],"odometry.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}