{"id":"https://openalex.org/W4388562350","doi":"https://doi.org/10.1109/icstcc59206.2023.10308442","title":"Cooperative Localization of an UAV Fleet using Distributed MHE with EKF Pre-estimation and Nonlinear Measurements","display_name":"Cooperative Localization of an UAV Fleet using Distributed MHE with EKF Pre-estimation and Nonlinear Measurements","publication_year":2023,"publication_date":"2023-10-11","ids":{"openalex":"https://openalex.org/W4388562350","doi":"https://doi.org/10.1109/icstcc59206.2023.10308442"},"language":"en","primary_location":{"id":"doi:10.1109/icstcc59206.2023.10308442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc59206.2023.10308442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04261231/file/HAL_ICSTCC_MB_vf.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093236505","display_name":"Matthieu Borelle","orcid":"https://orcid.org/0009-0005-1749-4101"},"institutions":[{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Matthieu Borelle","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay,CNRS, CentraleSup&#x00E9;lec, Laboratoire des signaux et syst&#x00E8;mes,Gif-sur-Yvette,France,91190"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay,CNRS, CentraleSup&#x00E9;lec, Laboratoire des signaux et syst&#x00E8;mes,Gif-sur-Yvette,France,91190","institution_ids":["https://openalex.org/I4210097418","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039338146","display_name":"Sylvain Bertrand","orcid":"https://orcid.org/0000-0002-4086-6912"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sylvain Bertrand","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay,ONERA, Traitement de l&#x2019;information et syst&#x00E8;mes,Palaiseau,France,91123"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay,ONERA, Traitement de l&#x2019;information et syst&#x00E8;mes,Palaiseau,France,91123","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059234416","display_name":"Cristina Stoica","orcid":"https://orcid.org/0000-0002-5838-599X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cristina Stoica","raw_affiliation_strings":["Universit&#x00E9; Paris-Saclay,CNRS, CentraleSup&#x00E9;lec, Laboratoire des signaux et syst&#x00E8;mes,Gif-sur-Yvette,France,91190"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Paris-Saclay,CNRS, CentraleSup&#x00E9;lec, Laboratoire des signaux et syst&#x00E8;mes,Gif-sur-Yvette,France,91190","institution_ids":["https://openalex.org/I4210097418","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014219486","display_name":"Teodoro \u00c1lamo","orcid":"https://orcid.org/0000-0002-0623-8146"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Teodoro Alamo","raw_affiliation_strings":["Universidad de Sevilla,Department of Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica,Sevilla,Spain,41092"],"affiliations":[{"raw_affiliation_string":"Universidad de Sevilla,Department of Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica,Sevilla,Spain,41092","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089211717","display_name":"Eduardo F. Camacho","orcid":"https://orcid.org/0000-0002-9636-5666"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo F. Camacho","raw_affiliation_strings":["Universidad de Sevilla,Department of Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica,Sevilla,Spain,41092"],"affiliations":[{"raw_affiliation_string":"Universidad de Sevilla,Department of Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica,Sevilla,Spain,41092","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5093236505"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210097418"],"apc_list":null,"apc_paid":null,"fwci":0.521,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72653042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"143","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9997000098228455,"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":0.9995999932289124,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8732941150665283},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6767058372497559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6743946075439453},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.66531902551651},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6558646559715271},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.585871160030365},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.537118673324585},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5170517563819885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4328880310058594},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4137102961540222},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34757497906684875},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3289092779159546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1831359565258026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17552319169044495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1605222523212433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06945723295211792}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8732941150665283},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6767058372497559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6743946075439453},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.66531902551651},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6558646559715271},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.585871160030365},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.537118673324585},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5170517563819885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4328880310058594},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4137102961540222},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34757497906684875},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3289092779159546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1831359565258026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17552319169044495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1605222523212433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06945723295211792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icstcc59206.2023.10308442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc59206.2023.10308442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04261231v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04261231","pdf_url":"https://hal.science/hal-04261231/file/HAL_ICSTCC_MB_vf.pdf","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"27th International Conference on System Theory, Control and Computing, Oct 2023, Timisoara, Romania. pp.143-148, &#x27E8;10.1109/ICSTCC59206.2023.10308442&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04261231v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04261231","pdf_url":"https://hal.science/hal-04261231/file/HAL_ICSTCC_MB_vf.pdf","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"27th International Conference on System Theory, Control and Computing, Oct 2023, Timisoara, Romania. pp.143-148, &#x27E8;10.1109/ICSTCC59206.2023.10308442&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2155879968","display_name":null,"funder_award_id":"ANR-21-CE48-0003","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G4126322094","display_name":null,"funder_award_id":"01100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G4493008365","display_name":null,"funder_award_id":"PID2019-106212RB-C41","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G661330594","display_name":null,"funder_award_id":"00110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6685425346","display_name":null,"funder_award_id":"0011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6851345361","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7084143925","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8260616629","display_name":null,"funder_award_id":"011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8684520763","display_name":null,"funder_award_id":"PID2019","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320310967","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null},{"id":"https://openalex.org/F4320336050","display_name":"Office National d'\u00e9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84"},{"id":"https://openalex.org/F4320336678","display_name":"Agence de l'innovation de D\u00e9fense","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388562350.pdf","grobid_xml":"https://content.openalex.org/works/W4388562350.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1711140718","https://openalex.org/W2024722577","https://openalex.org/W2037914955","https://openalex.org/W2038861660","https://openalex.org/W2054602340","https://openalex.org/W2082449006","https://openalex.org/W2143558629","https://openalex.org/W2145122884","https://openalex.org/W2146812611","https://openalex.org/W2153344006","https://openalex.org/W2155994581","https://openalex.org/W2899901919","https://openalex.org/W3081737306","https://openalex.org/W3108655311","https://openalex.org/W3197292005","https://openalex.org/W4210782294","https://openalex.org/W4288047769","https://openalex.org/W4296402327","https://openalex.org/W6637481741"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2674597762","https://openalex.org/W2562855176","https://openalex.org/W4300640027","https://openalex.org/W1506303183","https://openalex.org/W2328410657","https://openalex.org/W2064665624","https://openalex.org/W2258371975","https://openalex.org/W1573859018"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,24,36,42,98],"Distributed":[4],"Moving":[5],"Horizon":[6],"Estimation":[7],"(DMHE)":[8],"with":[9,108],"an":[10],"Extended":[11],"Kalman":[12],"Filter":[13],"(EKF)based":[14],"pre-estimation":[15,59],"to":[16,46,61,116],"solve":[17],"the":[18,49,54,63,70,74,80,85,88,118,121],"constrained":[19,75],"cooperative":[20,95],"localization":[21,96],"problem":[22,78],"for":[23],"Multi-Agent":[25],"System":[26],"(MAS)":[27],"using":[28],"nonlinear":[29,76],"measurements.":[30],"The":[31,57],"proposed":[32,122],"DMHE":[33,123],"strategy":[34],"uses":[35],"fused":[37],"arrival":[38],"cost":[39],"obtained":[40],"by":[41],"consensus":[43],"among":[44],"neighbors":[45],"efficiently":[47],"spread":[48],"relevant":[50],"estimation":[51,111,128],"information":[52],"across":[53],"communication":[55],"network.":[56],"EKF":[58],"enables":[60],"reduce":[62],"number":[64],"of":[65,73,87,94,97,100,120,127],"optimization":[66,77],"variables":[67],"and,":[68],"thus,":[69],"computation":[71,130],"time":[72],"over":[79],"horizon":[81],"length,":[82],"while":[83],"preserving":[84],"accuracy":[86],"estimation.":[89],"A":[90],"simulation":[91],"case":[92],"study":[93],"fleet":[99],"Unmanned":[101],"Aerial":[102],"Vehicles":[103],"(UAVs)":[104],"is":[105,113],"proposed.":[106],"Comparison":[107],"existing":[109],"distributed":[110],"methods":[112],"carried":[114],"out":[115],"confirm":[117],"effectiveness":[119],"algorithm":[124],"in":[125],"terms":[126],"accuracy,":[129],"time,":[131],"and":[132],"constraints":[133],"handling.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
