{"id":"https://openalex.org/W2046148693","doi":"https://doi.org/10.1109/icuwb.2012.6340421","title":"Modeling and benchmarking Ultra-Wideband localization for mobile robots","display_name":"Modeling and benchmarking Ultra-Wideband localization for mobile robots","publication_year":2012,"publication_date":"2012-09-01","ids":{"openalex":"https://openalex.org/W2046148693","doi":"https://doi.org/10.1109/icuwb.2012.6340421","mag":"2046148693"},"language":"en","primary_location":{"id":"doi:10.1109/icuwb.2012.6340421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icuwb.2012.6340421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Ultra-Wideband","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/80953","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043755879","display_name":"Alexander B\u00e4hr","orcid":"https://orcid.org/0009-0006-6586-6974"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Bahr","raw_affiliation_strings":["Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland","Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109362391","display_name":"Alexander Feldman","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106586","display_name":"Haute \u00c9cole P\u00e9dagogique du Canton de Vaud","ror":"https://ror.org/01bvm0h13","country_code":"CH","type":"education","lineage":["https://openalex.org/I4210106586"]},{"id":"https://openalex.org/I4401041603","display_name":"Haute \u00e9cole d'ing\u00e9nierie et de gestion du canton de Vaud, HES-SO Haute Ecole Sp\u00e9cialis\u00e9e de Suisse Occidentale","ror":"https://ror.org/02rzr3z90","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4401041603"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Feldman","raw_affiliation_strings":["Institute for Information and Communication Technologies, Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD), Switzerland","Institute for Information and Communication Technologies, Haute Ecole d'Ing\u00e9nierie et de Gestion du Canton de Vaud (HEIG-VD)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information and Communication Technologies, Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD), Switzerland","institution_ids":["https://openalex.org/I4210106586","https://openalex.org/I4401041603"]},{"raw_affiliation_string":"Institute for Information and Communication Technologies, Haute Ecole d'Ing\u00e9nierie et de Gestion du Canton de Vaud (HEIG-VD)","institution_ids":["https://openalex.org/I4210106586","https://openalex.org/I4401041603"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008690698","display_name":"James Colli-Vignarellii","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106586","display_name":"Haute \u00c9cole P\u00e9dagogique du Canton de Vaud","ror":"https://ror.org/01bvm0h13","country_code":"CH","type":"education","lineage":["https://openalex.org/I4210106586"]},{"id":"https://openalex.org/I4401041603","display_name":"Haute \u00e9cole d'ing\u00e9nierie et de gestion du canton de Vaud, HES-SO Haute Ecole Sp\u00e9cialis\u00e9e de Suisse Occidentale","ror":"https://ror.org/02rzr3z90","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4401041603"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"James Colli-Vignarellii","raw_affiliation_strings":["Institute for Information and Communication Technologies, Haute Ecole d'Ing\u00e9nierie et de Gestion du Canton de Vaud (HEIG-VD)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information and Communication Technologies, Haute Ecole d'Ing\u00e9nierie et de Gestion du Canton de Vaud (HEIG-VD)","institution_ids":["https://openalex.org/I4210106586","https://openalex.org/I4401041603"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043087021","display_name":"Stephan Robert","orcid":"https://orcid.org/0000-0002-7326-2357"},"institutions":[{"id":"https://openalex.org/I4210106586","display_name":"Haute \u00c9cole P\u00e9dagogique du Canton de Vaud","ror":"https://ror.org/01bvm0h13","country_code":"CH","type":"education","lineage":["https://openalex.org/I4210106586"]},{"id":"https://openalex.org/I4401041603","display_name":"Haute \u00e9cole d'ing\u00e9nierie et de gestion du canton de Vaud, HES-SO Haute Ecole Sp\u00e9cialis\u00e9e de Suisse Occidentale","ror":"https://ror.org/02rzr3z90","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4401041603"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stephan Robert","raw_affiliation_strings":["Institute for Information and Communication Technologies, Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD), Switzerland","Institute for Information and Communication Technologies, Haute Ecole d'Ing\u00e9nierie et de Gestion du Canton de Vaud (HEIG-VD)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information and Communication Technologies, Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD), Switzerland","institution_ids":["https://openalex.org/I4210106586","https://openalex.org/I4401041603"]},{"raw_affiliation_string":"Institute for Information and Communication Technologies, Haute Ecole d'Ing\u00e9nierie et de Gestion du Canton de Vaud (HEIG-VD)","institution_ids":["https://openalex.org/I4210106586","https://openalex.org/I4401041603"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013571244","display_name":"Catherine Dehollaini","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Catherine Dehollaini","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne, Lausanne, VD, CH","Radio Frequency Integrated Circuit Group, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne, Lausanne, VD, CH","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Radio Frequency Integrated Circuit Group, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080713076","display_name":"Alcherio Martinoli","orcid":"https://orcid.org/0000-0002-5201-7862"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alcherio Martinoli","raw_affiliation_strings":["Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland","Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4997,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69160734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"59","issue":null,"first_page":"443","last_page":"447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6661010980606079},{"id":"https://openalex.org/keywords/transmitter","display_name":"Transmitter","score":0.6225187182426453},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5984485149383545},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5750681757926941},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.5365225672721863},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4746982455253601},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4319726228713989},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.41851866245269775},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3374401926994324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3206337094306946},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14311620593070984}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6661010980606079},{"id":"https://openalex.org/C47798520","wikidata":"https://www.wikidata.org/wiki/Q190157","display_name":"Transmitter","level":3,"score":0.6225187182426453},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5984485149383545},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5750681757926941},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.5365225672721863},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4746982455253601},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4319726228713989},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.41851866245269775},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3374401926994324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3206337094306946},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14311620593070984},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icuwb.2012.6340421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icuwb.2012.6340421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Ultra-Wideband","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.248.8410","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.248.8410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.724.2353","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.724.2353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://llama.gs/personae/alex/papers/bahr12uwb.pdf","raw_type":"text"},{"id":"pmh:oai:hesso.tind.io:5061","is_oa":false,"landing_page_url":"http://arodes.hes-so.ch/record/5061","pdf_url":null,"source":{"id":"https://openalex.org/S4306402432","display_name":"ArODES (HES-SO (https://www.hes-so.ch/))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210088449","host_organization_name":"HES-SO Gen\u00e8ve","host_organization_lineage":["https://openalex.org/I4210088449"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arodes.hes-so.ch/record/5061","raw_type":"Text"},{"id":"pmh:oai:infoscience.epfl.ch:177576","is_oa":false,"landing_page_url":"http://infoscience.epfl.ch/record/177576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:177576","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/80953","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:177576","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/80953","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1486896792","https://openalex.org/W1542648184","https://openalex.org/W1555623254","https://openalex.org/W1566689234","https://openalex.org/W1989434420","https://openalex.org/W2014161185","https://openalex.org/W2022707376","https://openalex.org/W2028125626","https://openalex.org/W2044288937","https://openalex.org/W2049934619","https://openalex.org/W2063515917","https://openalex.org/W2091780109","https://openalex.org/W2104479788","https://openalex.org/W2124872618","https://openalex.org/W2150167324","https://openalex.org/W2158107779","https://openalex.org/W2160929126","https://openalex.org/W2248729783","https://openalex.org/W2336416123","https://openalex.org/W4388475847","https://openalex.org/W6691001673"],"related_works":["https://openalex.org/W2355663289","https://openalex.org/W2982399888","https://openalex.org/W2106913410","https://openalex.org/W4380372336","https://openalex.org/W2354248671","https://openalex.org/W2359134391","https://openalex.org/W2594116857","https://openalex.org/W2947628004","https://openalex.org/W3162200841","https://openalex.org/W1910620975"],"abstract_inverted_index":{"Ultra-Wideband":[0],"Impulse":[1],"Radio":[2],"(UWB-IR)":[3],"is":[4,25,48],"a":[5,42,51,89,167],"technology":[6,168],"that":[7,169],"has":[8],"great":[9],"potential":[10],"to":[11,26,50,79,102,116,137],"solve":[12],"numerous":[13],"mobile":[14,52],"robotic":[15,38,152],"and":[16,29,83,114,126,154,175],"asset":[17],"tracking":[18],"problems":[19],"in":[20,32,36,160],"GPS-denied":[21],"environments.":[22],"Our":[23,146],"goal":[24],"help":[27,171],"software":[28],"hardware":[30],"designers":[31],"improving":[33],"the":[34,56,60,66,80,95,139,144,164],"state-of-the-art":[35],"UWB-based":[37],"localization.":[39],"We":[40,129],"developed":[41],"test-bed":[43],"where":[44],"an":[45,110,131,150],"UWB":[46,71,111,151],"transmitter":[47],"attached":[49],"robot.":[53],"By":[54],"combining":[55],"received":[57],"signals":[58,72],"with":[59,77],"robot's":[61,172],"position":[62],"log":[63],"acquired":[64],"through":[65],"dead-reckoning":[67],"sensors,":[68],"we":[69,87],"obtain":[70],"which":[73],"are":[74],"well":[75,122],"referenced":[76],"respect":[78],"transmitter-receiver":[81],"distance":[82],"orientation.":[84],"In":[85],"addition,":[86],"provide":[88],"model":[90],"for":[91],"every":[92,107],"component":[93],"of":[94,109,143,163,166],"setup.":[96],"The":[97],"entire":[98],"setup":[99],"allows":[100],"us":[101],"simulate":[103],"from":[104],"first":[105],"principles":[106],"aspect":[108],"localization":[112,127,174],"system":[113,153],"then":[115],"implement":[117,130],"low-level":[118],"signal":[119],"processing":[120],"as":[121,123],"higher-level":[124],"modulation":[125],"techniques.":[128],"Automatic":[132],"Gain":[133],"Control":[134],"(AGC)":[135],"algorithm":[136],"demonstrate":[138],"rapid":[140],"proto-typing":[141],"capabilities":[142],"test-bed.":[145],"work":[147],"shows":[148],"how":[149],"its":[155],"models":[156],"can":[157,170],"be":[158],"involved":[159],"all":[161],"phases":[162],"development":[165],"navigation,":[173],"communication":[176],"algorithms.":[177]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}