{"id":"https://openalex.org/W2075628226","doi":"https://doi.org/10.1109/icra.2011.5980096","title":"Distributed robust data fusion based on dynamic voting","display_name":"Distributed robust data fusion based on dynamic voting","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2075628226","doi":"https://doi.org/10.1109/icra.2011.5980096","mag":"2075628226"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5010149148","display_name":"Eduardo Montijano","orcid":"https://orcid.org/0000-0002-5176-3767"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Montijano","raw_affiliation_strings":["DIIS-13A, University of Zaragoza, Spain","DIIS - I3A, University of Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIIS-13A, University of Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"DIIS - I3A, University of Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024022921","display_name":"Sonia Mart\u0131\u0301nez","orcid":"https://orcid.org/0000-0001-6756-1484"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["ES","US"],"is_corresponding":false,"raw_author_name":"Sonia Martinez","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, University of California, San Diego, USA","DIIS - I3A, University of Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, University of California, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"DIIS - I3A, University of Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052842220","display_name":"Carlos Sag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0002-3032-954X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["ES","US"],"is_corresponding":false,"raw_author_name":"Carlos Sagues","raw_affiliation_strings":["DIIS-13A, University of Zaragoza, Spain","Dept. of Mechanical and Aerospace Eng., University of California San Diego, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIIS-13A, University of Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Eng., University of California San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2634","issue":null,"first_page":"5893","last_page":"5898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9987000226974487,"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":0.9894999861717224,"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/ransac","display_name":"RANSAC","score":0.8403328061103821},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7660655975341797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7611682415008545},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6182966232299805},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6122266054153442},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6078782081604004},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5864229202270508},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5349677205085754},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5314221382141113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5091380476951599},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49294042587280273},{"id":"https://openalex.org/keywords/voting","display_name":"Voting","score":0.49169474840164185},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.48558419942855835},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.45701104402542114},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.44509702920913696},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.41203588247299194},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14276665449142456},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09629753232002258}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8403328061103821},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7660655975341797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7611682415008545},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6182966232299805},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6122266054153442},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6078782081604004},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5864229202270508},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5349677205085754},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5314221382141113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5091380476951599},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49294042587280273},{"id":"https://openalex.org/C520049643","wikidata":"https://www.wikidata.org/wiki/Q189760","display_name":"Voting","level":3,"score":0.49169474840164185},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.48558419942855835},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.45701104402542114},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.44509702920913696},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.41203588247299194},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14276665449142456},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09629753232002258},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.389.9678","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.389.9678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://faemino.ucsd.edu/~soniamartinez/papers/data/2011_EM-SM-CS-icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.707.4621","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.707.4621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://webdiis.unizar.es/%7Eedumonti/wp-content/upload/11-EM-SM-CS-icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1788292158","https://openalex.org/W2058933750","https://openalex.org/W2085261163","https://openalex.org/W2098863504","https://openalex.org/W2133846307","https://openalex.org/W2145299066","https://openalex.org/W2152139894","https://openalex.org/W2155256807","https://openalex.org/W2155616291","https://openalex.org/W2163884566","https://openalex.org/W2293984849","https://openalex.org/W4244375620","https://openalex.org/W6681705959","https://openalex.org/W6697369322"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W2981196697","https://openalex.org/W3012182724","https://openalex.org/W2115876589","https://openalex.org/W1988708904","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W1983540692","https://openalex.org/W2154495931"],"abstract_inverted_index":{"Data":[0],"association":[1],"mistakes,":[2],"estimation":[3],"and":[4,35,60,101,115],"measurement":[5,99],"errors":[6],"are":[7,113,126],"some":[8],"of":[9,39,160,175],"the":[10,40,53,61,94,124,128,135,153,157,162,172,176,186],"factors":[11],"that":[12,140,152],"can":[13,130],"contribute":[14],"to":[15,24,33,56,67,97,156,188],"incorrect":[16],"observations":[17,164],"in":[18,86,165,183],"robotic":[19,28,88],"sensor":[20],"networks.":[21,89],"In":[22,73],"order":[23],"act":[25],"reliably,":[26],"a":[27,49,78,119,166],"network":[29,54],"must":[30],"be":[31,57],"able":[32],"fuse":[34],"correct":[36],"its":[37],"perception":[38],"world":[41],"by":[42],"discarding":[43],"any":[44],"outlier":[45],"information.":[46],"This":[47],"is":[48,55,145],"difficult":[50],"task":[51],"if":[52],"deployed":[58],"remotely":[59],"robots":[62,103,129],"do":[63,191],"not":[64,192],"have":[65],"access":[66],"ground-truth":[68],"sites":[69],"or":[70],"manual":[71],"calibration.":[72],"this":[74],"paper,":[75],"we":[76,150],"present":[77],"novel,":[79],"distributed":[80],"scheme":[81],"for":[82,117],"robust":[83],"data":[84],"fusion":[85],"autonomous":[87],"The":[90],"proposed":[91],"method":[92,154],"adapts":[93],"RANSAC":[95],"algorithm":[96],"exploit":[98],"redundancy,":[100],"enables":[102],"determine":[104],"an":[105],"inlier":[106,163],"observation":[107],"with":[108,147],"local":[109],"communications.":[110],"Different":[111],"hypotheses":[112,125],"generated":[114],"voted":[116],"using":[118],"dynamic":[120],"consensus":[121],"algorithm.":[122],"As":[123],"computed,":[127],"change":[131],"their":[132],"opinion":[133],"making":[134],"voting":[136],"process":[137],"dynamic.":[138],"Assuming":[139],"at":[141],"least":[142],"one":[143],"hypothesis":[144],"initialized":[146],"only":[148],"inliers,":[149],"show":[151],"converges":[155],"maximum":[158],"likelihood":[159],"all":[161],"general":[167],"instance.":[168],"Several":[169],"simulations":[170],"exhibit":[171],"good":[173],"performance":[174],"algorithm,":[177],"which":[178],"also":[179],"gives":[180],"acceptable":[181],"results":[182],"situations":[184],"where":[185],"conditions":[187],"guarantee":[189],"convergence":[190],"hold.":[193]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
