{"id":"https://openalex.org/W2412691628","doi":"https://doi.org/10.1109/icra.2016.7487736","title":"Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach","display_name":"Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2412691628","doi":"https://doi.org/10.1109/icra.2016.7487736","mag":"2412691628"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5086310979","display_name":"Siddharth Choudhary","orcid":"https://orcid.org/0000-0001-8430-8093"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]},{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Siddharth Choudhary","raw_affiliation_strings":["Biomedical Engineering Department, University of Minnesota, Minneapolis, MN, USA","Jiangsu Key Laboratory of New Energy Generation and Power Conversion, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Department, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of New Energy Generation and Power Conversion, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4210091810","display_name":"Medtronic (United States)","ror":"https://ror.org/00grd1h17","country_code":"US","type":"company","lineage":["https://openalex.org/I4210091810"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Medtronic, LA, USA","State Key Laboratory of Power Systems, Tsinghua University, Beijing, China","University of Minnesota, MN"],"affiliations":[{"raw_affiliation_string":"Medtronic, LA, USA","institution_ids":["https://openalex.org/I4210091810"]},{"raw_affiliation_string":"State Key Laboratory of Power Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"University of Minnesota, MN","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091203572","display_name":"Carlos Nieto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125099","display_name":"Mayo Clinic in Arizona","ror":"https://ror.org/03jp40720","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1330342723","https://openalex.org/I4210125099"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Carlos Nieto","raw_affiliation_strings":["Department of Neurology, Mayo Clinic, Rochester, MN, USA","Jiangsu Key Laboratory of New Energy Generation and Power Conversion, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Department of Neurology, Mayo Clinic, Rochester, MN, USA","institution_ids":["https://openalex.org/I4210125099"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of New Energy Generation and Power Conversion, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101870284","display_name":"John G. Rogers","orcid":"https://orcid.org/0000-0002-6074-0823"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"John Rogers","raw_affiliation_strings":["Biomedical Engineering Department, University of Minnesota, Minneapolis, MN, USA","Institute for Engineering in Medicine, University of Minnesota, MN","Jiangsu Key Laboratory of New Energy Generation and Power Conversion, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Department, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Institute for Engineering in Medicine, University of Minnesota, MN","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of New Energy Generation and Power Conversion, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066237365","display_name":"Henrik I. Christensen","orcid":"https://orcid.org/0000-0002-7465-7502"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Henrik I. Christensen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Frank Dellaert","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5086310979"],"corresponding_institution_ids":["https://openalex.org/I130238516","https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":6.84525476,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.97823487,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5261","last_page":"5268"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"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":0.9927999973297119,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9921000003814697,"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":0.9907000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7478113174438477},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6714602708816528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6627107858657837},{"id":"https://openalex.org/keywords/gauss\u2013seidel-method","display_name":"Gauss\u2013Seidel method","score":0.5526531338691711},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5377628207206726},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.46810173988342285},{"id":"https://openalex.org/keywords/gauss","display_name":"Gauss","score":0.4543955624103546},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4337247610092163},{"id":"https://openalex.org/keywords/distributed-algorithm","display_name":"Distributed algorithm","score":0.4128103256225586},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35126280784606934},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.30284935235977173},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.2438347339630127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23378422856330872}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7478113174438477},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6714602708816528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6627107858657837},{"id":"https://openalex.org/C3828260","wikidata":"https://www.wikidata.org/wiki/Q1069090","display_name":"Gauss\u2013Seidel method","level":3,"score":0.5526531338691711},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5377628207206726},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.46810173988342285},{"id":"https://openalex.org/C161794534","wikidata":"https://www.wikidata.org/wiki/Q177493","display_name":"Gauss","level":2,"score":0.4543955624103546},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4337247610092163},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.4128103256225586},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35126280784606934},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.30284935235977173},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2438347339630127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23378422856330872},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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":40,"referenced_works":["https://openalex.org/W50439157","https://openalex.org/W1501672519","https://openalex.org/W1536617987","https://openalex.org/W1574773379","https://openalex.org/W1603426217","https://openalex.org/W1603765807","https://openalex.org/W1964591239","https://openalex.org/W1972564018","https://openalex.org/W1990304174","https://openalex.org/W1996361697","https://openalex.org/W2010331587","https://openalex.org/W2011897632","https://openalex.org/W2026115431","https://openalex.org/W2026717988","https://openalex.org/W2040134986","https://openalex.org/W2054442768","https://openalex.org/W2060772243","https://openalex.org/W2064169939","https://openalex.org/W2065860562","https://openalex.org/W2069871789","https://openalex.org/W2091772525","https://openalex.org/W2097064869","https://openalex.org/W2102626263","https://openalex.org/W2125543527","https://openalex.org/W2126828700","https://openalex.org/W2130343868","https://openalex.org/W2130418717","https://openalex.org/W2138890480","https://openalex.org/W2141117754","https://openalex.org/W2146702612","https://openalex.org/W2148262136","https://openalex.org/W2170049866","https://openalex.org/W2170229019","https://openalex.org/W2171244244","https://openalex.org/W2180077832","https://openalex.org/W2182229738","https://openalex.org/W4234095850","https://openalex.org/W6653413292","https://openalex.org/W6664103755","https://openalex.org/W6685664056"],"related_works":["https://openalex.org/W2360606995","https://openalex.org/W2281025351","https://openalex.org/W2034471036","https://openalex.org/W2348990883","https://openalex.org/W1967449648","https://openalex.org/W2393794471","https://openalex.org/W2378486976","https://openalex.org/W2368937350","https://openalex.org/W2360045417","https://openalex.org/W2381239767"],"abstract_inverted_index":{"We":[0,123],"propose":[1],"a":[2,35,58,120],"distributed":[3,59,63],"algorithm":[4],"to":[5,49,105,114],"estimate":[6],"the":[7,27,45,62,95,106,125],"3D":[8],"trajectories":[9],"of":[10,37,44,82],"multiple":[11],"cooperative":[12],"robots":[13],"from":[14],"relative":[15],"pose":[16],"measurements.":[17],"Our":[18,67],"approach":[19,68,111,126],"leverages":[20],"recent":[21],"results":[22],"[1]":[23],"which":[24,77],"show":[25,50],"that":[26,51],"maximum":[28],"likelihood":[29],"trajectory":[30,96],"is":[31,48,78],"well":[32,113],"approximated":[33],"by":[34],"sequence":[36],"two":[38],"quadratic":[39],"subproblems.":[40],"The":[41,109],"main":[42],"contribution":[43],"present":[46],"work":[47],"these":[52],"subproblems":[53],"can":[54],"be":[55],"solved":[56],"in":[57,80,127],"manner,":[60],"using":[61],"Gauss-Seidel":[64],"(DGS)":[65],"algorithm.":[66],"has":[69,88,119],"several":[70],"advantages.":[71],"It":[72,87],"requires":[73],"minimal":[74],"information":[75],"exchange,":[76],"beneficial":[79],"presence":[81],"communication":[83],"and":[84,101,117,129],"privacy":[85],"constraints.":[86],"an":[89],"anytime":[90],"flavor:":[91],"after":[92],"few":[93],"iterations":[94],"estimates":[97],"are":[98],"already":[99],"accurate,":[100],"they":[102],"asymptotically":[103],"convergence":[104],"centralized":[107],"estimate.":[108],"DGS":[110],"scales":[112],"large":[115],"teams,":[116],"it":[118],"straightforward":[121],"implementation.":[122],"test":[124],"simulations":[128],"field":[130],"tests,":[131],"demonstrating":[132],"its":[133],"advantages":[134],"over":[135],"related":[136],"techniques.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-02-20T08:17:22.645390","created_date":"2025-10-10T00:00:00"}