{"id":"https://openalex.org/W4401415546","doi":"https://doi.org/10.1109/icra57147.2024.10610915","title":"Simultaneous Time Synchronization and Mutual Localization for Multi-robot System","display_name":"Simultaneous Time Synchronization and Mutual Localization for Multi-robot System","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415546","doi":"https://doi.org/10.1109/icra57147.2024.10610915"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610915","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5049998729","display_name":"Xiangyong Wen","orcid":"https://orcid.org/0000-0002-4409-9095"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangyong Wen","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078791969","display_name":"Yingjian Wang","orcid":"https://orcid.org/0000-0001-8456-3422"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjian Wang","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102087688","display_name":"Xi Tao Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xi Zheng","raw_affiliation_strings":["Hong Kong Polytechnic University,Hong Kong,China,100872"],"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University,Hong Kong,China,100872","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018263416","display_name":"Kaiwei Wang","orcid":"https://orcid.org/0000-0002-8272-3119"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiwei Wang","raw_affiliation_strings":["Zhejiang University,College of Optical Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Optical Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049888271","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0001-9300-4497"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085382296","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-1489-0812"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control, College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5049998729"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.4549,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82943807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2603","last_page":"2609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12216","display_name":"Network Time Synchronization Technologies","score":0.995199978351593,"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.995199978351593,"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":0.9919999837875366,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9736999869346619,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.8326799869537354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6504510045051575},{"id":"https://openalex.org/keywords/time-synchronization","display_name":"Time synchronization","score":0.6166466474533081},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5362972617149353},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.5096228122711182},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4482482075691223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32769644260406494},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32130175828933716},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09282433986663818}],"concepts":[{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.8326799869537354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6504510045051575},{"id":"https://openalex.org/C2986737936","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Time synchronization","level":2,"score":0.6166466474533081},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5362972617149353},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.5096228122711182},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4482482075691223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32769644260406494},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32130175828933716},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09282433986663818},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610915","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1574773379","https://openalex.org/W1998058414","https://openalex.org/W2067826918","https://openalex.org/W2075592087","https://openalex.org/W2090219750","https://openalex.org/W2119878099","https://openalex.org/W2156184190","https://openalex.org/W2167731360","https://openalex.org/W2170229019","https://openalex.org/W2178935672","https://openalex.org/W2288632536","https://openalex.org/W2537902178","https://openalex.org/W2749287221","https://openalex.org/W2798375363","https://openalex.org/W2887564721","https://openalex.org/W2976722701","https://openalex.org/W2990245321","https://openalex.org/W3002818939","https://openalex.org/W3090291521","https://openalex.org/W3091667825","https://openalex.org/W4285109488","https://openalex.org/W4313001381"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W2885105415","https://openalex.org/W3114279067","https://openalex.org/W4231087120","https://openalex.org/W2166939931","https://openalex.org/W2031096545","https://openalex.org/W2322793796","https://openalex.org/W2548702785","https://openalex.org/W1631301428","https://openalex.org/W2361721963"],"abstract_inverted_index":{"Mutual":[0],"localization":[1,41,72],"stands":[2],"as":[3],"a":[4,54,59,74,85,96],"foundational":[5],"component":[6],"within":[7],"various":[8],"domains":[9],"of":[10,125,160],"multi-robot":[11],"systems.":[12],"Nevertheless,":[13],"in":[14,58],"relative":[15,48,107],"pose":[16,108],"estimation,":[17,128],"time":[18,37,45,64,104,114,126,138,161],"synchronization":[19,38,105,162],"is":[20,118],"usually":[21],"underappreciated":[22],"and":[23,47,89,106,149,175],"rarely":[24],"addressed,":[25],"although":[26],"it":[27],"significantly":[28],"influences":[29],"estimation":[30,66,109],"accuracy.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35,62,83,129],"introduce":[36],"into":[39],"mutual":[40,71,164],"to":[42,94,135,142,171],"recover":[43,136],"the":[44,80,101,122,137,146,150,173],"offset":[46,65,127,139],"poses":[49],"between":[50,116,145],"robots":[51,117],"simultaneously.":[52],"Under":[53],"constant":[55],"velocity":[56],"assumption":[57],"short":[60],"time,":[61],"fuse":[63],"with":[67],"our":[68],"previous":[69],"bearing-based":[70],"by":[73],"novel":[75],"error":[76,81],"representation.":[77],"Based":[78],"on":[79,163],"model,":[82],"formulate":[84],"joint":[86],"optimization":[87],"problem":[88],"utilize":[90],"semi-definite":[91],"relaxation":[92],"(SDR)":[93],"furnish":[95],"lossless":[97],"relaxation.":[98],"By":[99],"solving":[100],"relaxed":[102],"problem,":[103],"can":[110],"be":[111],"achieved":[112],"when":[113],"drift":[115],"limited.":[119],"To":[120],"enhance":[121],"application":[123],"range":[124],"further":[130],"propose":[131],"an":[132],"iterative":[133],"method":[134,148],"from":[140],"coarse":[141],"fine.":[143],"Comparisons":[144],"proposed":[147],"existing":[151],"ones":[152],"through":[153],"extensive":[154],"simulation":[155],"tests":[156],"present":[157],"prominent":[158],"benefits":[159],"localization.":[165],"Moreover,":[166],"real-world":[167],"experiments":[168],"are":[169],"conducted":[170],"show":[172],"practicality":[174],"robustness.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-02-27T16:54:17.756197","created_date":"2025-10-10T00:00:00"}
