{"id":"https://openalex.org/W2010331587","doi":"https://doi.org/10.1109/icra.2013.6630774","title":"Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization","display_name":"Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2010331587","doi":"https://doi.org/10.1109/icra.2013.6630774","mag":"2010331587"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5028959062","display_name":"Joseph Knuth","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Knuth","raw_affiliation_strings":["University of Florida, Gainesville, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida, Gainesville, United States","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026067872","display_name":"Prabir Barooah","orcid":"https://orcid.org/0000-0002-2929-8301"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prabir Barooah","raw_affiliation_strings":["University of Florida, Gainesville, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida, Gainesville, United States","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":69.9717,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99645555,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1534","last_page":"1539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9969000220298767,"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/odometry","display_name":"Odometry","score":0.8473764657974243},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6794915199279785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5937029123306274},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5369526743888855},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5199964642524719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5130254626274109},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.510580837726593},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5000510215759277},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4415965676307678},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44158506393432617},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44075462222099304},{"id":"https://openalex.org/keywords/distributed-algorithm","display_name":"Distributed algorithm","score":0.43968814611434937},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42170417308807373},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.374006450176239},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09480056166648865}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8473764657974243},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6794915199279785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5937029123306274},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5369526743888855},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5199964642524719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5130254626274109},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.510580837726593},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5000510215759277},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4415965676307678},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44158506393432617},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44075462222099304},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.43968814611434937},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42170417308807373},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.374006450176239},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09480056166648865},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/icra.2013.6630774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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":23,"referenced_works":["https://openalex.org/W1493390473","https://openalex.org/W1804110266","https://openalex.org/W2011897632","https://openalex.org/W2053202351","https://openalex.org/W2061372028","https://openalex.org/W2067826918","https://openalex.org/W2096300742","https://openalex.org/W2098221308","https://openalex.org/W2110729215","https://openalex.org/W2125543527","https://openalex.org/W2128453677","https://openalex.org/W2138400911","https://openalex.org/W2138890480","https://openalex.org/W2152910052","https://openalex.org/W2153054365","https://openalex.org/W2156661261","https://openalex.org/W2170229019","https://openalex.org/W2295583866","https://openalex.org/W4234095850","https://openalex.org/W4253283574","https://openalex.org/W6653413292","https://openalex.org/W6684696910","https://openalex.org/W6697152077"],"related_works":["https://openalex.org/W2354322770","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451","https://openalex.org/W1585087611"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,37,87,99,165],"distributed":[3,106,131,150,166],"algorithm":[4,107,132,151,161],"for":[5,39],"collaborative":[6],"localization":[7,135],"of":[8,30,57,74,101,140,177],"multiple":[9],"autonomous":[10],"robots":[11],"that":[12,128,171],"fuses":[13],"inter-robot":[14,41,58],"relative":[15,62,64],"measurements":[16,19,43,59,120],"with":[17,123],"odometry":[18],"to":[20,53,111],"improve":[21],"upon":[22],"dead":[23],"reckoning":[24],"estimates.":[25],"It":[26],"is":[27,80,92],"an":[28,83,157,174],"extension":[29],"our":[31],"previous":[32],"work":[33],"[6],":[34],"in":[35,86,145],"which":[36],"method":[38,52,79,170],"fusing":[40],"pose":[42,115,167],"was":[44],"presented.":[45],"In":[46],"this":[47],"paper":[48],"we":[49],"extend":[50],"the":[51,72,75,102,129,138,148],"fuse":[54],"any":[55,67],"type":[56],"(distance,":[60],"bearing,":[61],"position,":[63],"orientation,":[65],"and":[66,91,121],"combination":[68],"thereof),":[69],"thus":[70],"increasing":[71],"applicability":[73],"method.":[76],"The":[77,104],"proposed":[78,105,130,149],"posed":[81],"as":[82,162,164],"optimization":[84,169],"problem":[85],"product":[88],"Riemannian":[89],"manifold;":[90],"solved":[93],"by":[94],"gradient":[95],"descent":[96],"without":[97],"performing":[98],"parameterization":[100,176],"orientations.":[103,178],"allows":[108],"each":[109],"robot":[110],"compute":[112],"its":[113,124],"own":[114],"estimate":[116],"based":[117],"on":[118,173],"local":[119],"communication":[122],"neighbors.":[125],"Simulations":[126,142],"show":[127,143],"significantly":[133],"improves":[134],"accuracy":[136],"over":[137],"case":[139],"no-collaboration.":[141],"that,":[144],"some":[146],"situations,":[147],"outperforms":[152],"two":[153],"competing":[154],"methods":[155],"-":[156],"Extended":[158],"Kalman":[159],"Filter-based":[160],"well":[163],"graph":[168],"relies":[172],"Euclidean":[175]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}