{"id":"https://openalex.org/W2006291955","doi":"https://doi.org/10.1109/iros.2005.1545056","title":"Cooperative relative robot localization with audible acoustic sensing","display_name":"Cooperative relative robot localization with audible acoustic sensing","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2006291955","doi":"https://doi.org/10.1109/iros.2005.1545056","mag":"2006291955"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5055838771","display_name":"Yiting Lin","orcid":"https://orcid.org/0000-0003-4159-3132"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Y. Lin","raw_affiliation_strings":["GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088033744","display_name":"Paul Vernaza","orcid":"https://orcid.org/0000-0002-2745-1894"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Vernaza","raw_affiliation_strings":["GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035684101","display_name":"Jihun Ham","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Ham","raw_affiliation_strings":["GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029820862","display_name":"D.D. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.D. Lee","raw_affiliation_strings":["GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA#TAB#","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055838771"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":1.9075,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85861242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3764","last_page":"3769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10860","display_name":"Speech and Audio Processing","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"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/odometry","display_name":"Odometry","score":0.7720140814781189},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7618793249130249},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6204953789710999},{"id":"https://openalex.org/keywords/binaural-recording","display_name":"Binaural recording","score":0.620046854019165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6092767119407654},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5885866284370422},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5316061973571777},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5175992250442505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4816840589046478},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4308626055717468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4292057752609253},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4222968518733978},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.41635674238204956},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2070695161819458},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.174125075340271},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1147661805152893}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7720140814781189},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7618793249130249},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6204953789710999},{"id":"https://openalex.org/C201247586","wikidata":"https://www.wikidata.org/wiki/Q5612967","display_name":"Binaural recording","level":2,"score":0.620046854019165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6092767119407654},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5885866284370422},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5316061973571777},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5175992250442505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4816840589046478},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4308626055717468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4292057752609253},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4222968518733978},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41635674238204956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2070695161819458},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.174125075340271},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1147661805152893},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1488766761","https://openalex.org/W1513190811","https://openalex.org/W1573376273","https://openalex.org/W1766888123","https://openalex.org/W2007635681","https://openalex.org/W2046317813","https://openalex.org/W2110012675","https://openalex.org/W2139548351","https://openalex.org/W2148820580","https://openalex.org/W2157697090","https://openalex.org/W2160584648","https://openalex.org/W2478884216","https://openalex.org/W6676456659","https://openalex.org/W6680412184","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W4387559098","https://openalex.org/W4367281123","https://openalex.org/W4387452254","https://openalex.org/W2770318696","https://openalex.org/W1585960250","https://openalex.org/W2341297234","https://openalex.org/W1976086917"],"abstract_inverted_index":{"We":[0,171],"describe":[1],"a":[2,10,69,107,121,142,167,187],"method":[3],"for":[4],"estimating":[5],"the":[6,26,31,73,80,85,88,92,98,102,113,127,130,147,155,163,174,181,206,209,212],"relative":[7,20],"poses":[8],"of":[9,12,25,33,35,56,78,91,101,124,136,150,157,169,211],"team":[11],"mobile":[13],"robots":[14,27,43,200],"using":[15,30],"only":[16],"acoustic":[17,60,183],"sensing.":[18],"The":[19,42],"distances":[21],"and":[22,54,75,126,185,208],"bearing":[23],"angles":[24,77,117],"are":[28,62],"estimated":[29],"time":[32,55],"arrival":[34,57],"audible":[36],"sound":[37,47,203],"signals":[38],"on":[39,134,199],"stereo":[40],"microphones.":[41],"emit":[44],"specially":[45],"designed":[46],"waveforms":[48],"that":[49],"simultaneously":[50],"enable":[51],"robot":[52,94],"identification":[53],"estimation.":[58],"These":[59],"observations":[61],"then":[63],"combined":[64],"with":[65,154,201],"odometry":[66],"to":[67],"update":[68],"belief":[70],"state":[71],"describing":[72],"positions":[74,132],"heading":[76,89,116],"all":[79],"robots.":[81,170],"To":[82],"efficiently":[83],"resolve":[84,178],"ambiguity":[86,100],"in":[87,129,161,180],"angle":[90],"observing":[93],"as":[95,97,193,195],"well":[96,194],"back-front":[99],"observed":[103],"robot,":[104],"we":[105],"employ":[106],"Rao-Blackwellised":[108],"particle":[109,152],"filter":[110,159],"(RBPF)":[111],"where":[112],"distribution":[114,165],"over":[115,166],"is":[118,139],"represented":[119],"by":[120,141],"discrete":[122],"set":[123],"particles,":[125],"uncertainty":[128],"translational":[131],"conditioned":[133],"each":[135],"these":[137],"particles":[138],"described":[140],"Gaussian.":[143],"This":[144],"approach":[145],"combines":[146],"representational":[148],"accuracy":[149,207],"conventional":[151],"filters":[153],"efficiency":[156],"Kalman":[158],"updates":[160],"modeling":[162],"pose":[164,190,214],"number":[168],"demonstrate":[172],"how":[173],"RBPF":[175],"can":[176],"quickly":[177],"uncertainties":[179],"binaural":[182],"measurements":[184],"yield":[186],"globally":[188],"consistent":[189],"estimate.":[191],"Simulations":[192],"an":[196],"experimental":[197],"implementation":[198],"generic":[202],"hardware":[204],"illustrate":[205],"convergence":[210],"resulting":[213],"estimates.":[215]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}