{"id":"https://openalex.org/W2788056275","doi":"https://doi.org/10.1109/icra.2018.8460844","title":"Robust Target-Relative Localization with Ultra-Wideband Ranging and Communication","display_name":"Robust Target-Relative Localization with Ultra-Wideband Ranging and Communication","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2788056275","doi":"https://doi.org/10.1109/icra.2018.8460844","mag":"2788056275"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1802.08953","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Thien-Minh Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["The authors are with School of Electrical, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"The authors are with School of Electrical, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Abdul Hanif Zaini","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Abdul Hanif Zaini","raw_affiliation_strings":["The authors are with School of Electrical, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"The authors are with School of Electrical, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["The authors are with School of Electrical, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"The authors are with School of Electrical, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kexin Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kexin Guo","raw_affiliation_strings":["The authors are with School of Electrical, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"The authors are with School of Electrical, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":null,"display_name":"Lihua Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["The authors are with School of Electrical, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"The authors are with School of Electrical, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.7387,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.90711161,"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":"2312","last_page":"2319"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.996399998664856,"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/quadcopter","display_name":"Quadcopter","score":0.944599986076355},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.925000011920929},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6039999723434448},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5771999955177307},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5002999901771545},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49300000071525574},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4390999972820282},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4284000098705292},{"id":"https://openalex.org/keywords/laser-ranging","display_name":"Laser ranging","score":0.4246000051498413}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.944599986076355},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.925000011920929},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6039999723434448},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5771999955177307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5349000096321106},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5002999901771545},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49300000071525574},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4390999972820282},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43799999356269836},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C2985143356","wikidata":"https://www.wikidata.org/wiki/Q1426632","display_name":"Laser ranging","level":3,"score":0.4246000051498413},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C47798520","wikidata":"https://www.wikidata.org/wiki/Q190157","display_name":"Transmitter","level":3,"score":0.36550000309944153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.361299991607666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.359499990940094},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3440000116825104},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3386000096797943},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.31040000915527344},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C183121708","wikidata":"https://www.wikidata.org/wiki/Q209867","display_name":"Telemetry","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.2842000126838684},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2705000042915344},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.263700008392334},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1802.08953","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1802.08953","pdf_url":"https://arxiv.org/pdf/1802.08953","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1802.08953","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1802.08953","pdf_url":"https://arxiv.org/pdf/1802.08953","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1518154293","https://openalex.org/W1521464635","https://openalex.org/W1934455175","https://openalex.org/W1991450513","https://openalex.org/W2020139029","https://openalex.org/W2027865396","https://openalex.org/W2131305063","https://openalex.org/W2139241879","https://openalex.org/W2195769232","https://openalex.org/W2213241233","https://openalex.org/W2284951713","https://openalex.org/W2561679008","https://openalex.org/W2597920226","https://openalex.org/W2761222387","https://openalex.org/W6744201405","https://openalex.org/W6785424163"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"a":[5,14,17],"method":[6],"to":[7,28,73,93,112,117,128,133],"achieve":[8,42],"relative":[9,32,132],"positioning":[10],"and":[11,34,39,89,145],"tracking":[12],"of":[13,54,98,125],"target":[15,135,142],"by":[16],"quadcopter":[18,38,127],"using":[19],"Ultra-wideband":[20],"(UWB)":[21],"ranging":[22,76],"sensors,":[23],"which":[24],"are":[25,60],"strategically":[26],"installed":[27],"help":[29],"retrieve":[30],"both":[31,138],"position":[33,131],"bearing":[35],"between":[36],"the":[37,52,55,96,99,103,114,118,123,126,134,141],"target.":[40],"To":[41],"robust":[43],"localization":[44],"for":[45],"autonomous":[46],"flight":[47],"even":[48],"with":[49,78,102],"uncertainty":[50],"in":[51,137],"speed":[53],"target,":[56],"two":[57],"main":[58],"features":[59],"developed.":[61],"First,":[62],"an":[63],"estimator":[64],"based":[65,107],"on":[66],"Extended":[67],"Kalman":[68],"Filter":[69],"(EKF)":[70],"is":[71,110,143],"developed":[72],"fuse":[74],"UWB":[75,106],"measurements":[77],"data":[79],"from":[80],"onboard":[81],"sensors":[82],"including":[83],"inertial":[84],"measurement":[85],"unit":[86],"(IMU),":[87],"altimeters":[88],"optical":[90],"flow.":[91],"Second,":[92],"properly":[94],"handle":[95],"coupling":[97],"target's":[100,115],"orientation":[101,116],"range":[104],"measurements,":[105],"communication":[108],"capability":[109],"utilized":[111],"transfer":[113],"quadcopter.":[119],"Experiments":[120],"results":[121],"demonstrate":[122],"ability":[124],"control":[129],"its":[130],"autonomously":[136],"cases":[139],"when":[140],"static":[144],"moving.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2018-03-06T00:00:00"}
