{"id":"https://openalex.org/W2112789315","doi":"https://doi.org/10.1109/iros.2008.4650650","title":"Efficient probabilistic Range-Only SLAM","display_name":"Efficient probabilistic Range-Only SLAM","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2112789315","doi":"https://doi.org/10.1109/iros.2008.4650650","mag":"2112789315"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5100772672","display_name":"Jose\u2010Luis Blanco","orcid":"https://orcid.org/0000-0002-9745-285X"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"J.-L. Blanco","raw_affiliation_strings":["Department of System Engineering and Automation, M\u00e1laga University, Malaga, Spain","Dept. of Syst. Eng. & Autom., Malaga Univ., Malaga"],"affiliations":[{"raw_affiliation_string":"Department of System Engineering and Automation, M\u00e1laga University, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. of Syst. Eng. & Autom., Malaga Univ., Malaga","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013883637","display_name":"Juan\u2010Antonio Fern\u00e1ndez\u2010Madrigal","orcid":"https://orcid.org/0000-0003-1376-7967"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.-A. Fernandez-Madrigal","raw_affiliation_strings":["Department of System Engineering and Automation, M\u00e1laga University, Malaga, Spain","Dept. of Syst. Eng. & Autom., Malaga Univ., Malaga"],"affiliations":[{"raw_affiliation_string":"Department of System Engineering and Automation, M\u00e1laga University, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. of Syst. Eng. & Autom., Malaga Univ., Malaga","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102818020","display_name":"Jos\u00e9 M. Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-9926-3323"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Gonzalez","raw_affiliation_strings":["Department of System Engineering and Automation, M\u00e1laga University, Malaga, Spain","Dept. of Syst. Eng. & Autom., Malaga Univ., Malaga"],"affiliations":[{"raw_affiliation_string":"Department of System Engineering and Automation, M\u00e1laga University, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. of Syst. Eng. & Autom., Malaga Univ., Malaga","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100772672"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":4.0044,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.93688177,"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":"1017","last_page":"1022"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987999796867371,"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/particle-filter","display_name":"Particle filter","score":0.7897753715515137},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6499379873275757},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.6428216695785522},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6252450346946716},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6168569326400757},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5928804874420166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5725213289260864},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5044609308242798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5011882781982422},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4509694576263428},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4411197304725647},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34022119641304016},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1883767545223236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09381014108657837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08453720808029175}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7897753715515137},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6499379873275757},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.6428216695785522},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6252450346946716},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6168569326400757},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5928804874420166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5725213289260864},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5044609308242798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5011882781982422},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4509694576263428},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4411197304725647},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34022119641304016},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1883767545223236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09381014108657837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08453720808029175},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1490080465","https://openalex.org/W1586173270","https://openalex.org/W1965392255","https://openalex.org/W1965555277","https://openalex.org/W1973876344","https://openalex.org/W2020934227","https://openalex.org/W2033057584","https://openalex.org/W2035827724","https://openalex.org/W2099287185","https://openalex.org/W2099867508","https://openalex.org/W2110453924","https://openalex.org/W2126736494","https://openalex.org/W2127578024","https://openalex.org/W2134898473","https://openalex.org/W2135489390","https://openalex.org/W2138173515","https://openalex.org/W2144816284","https://openalex.org/W2149049767","https://openalex.org/W2152671441","https://openalex.org/W2162234765","https://openalex.org/W2163280245","https://openalex.org/W2166088427","https://openalex.org/W2336416123","https://openalex.org/W6655473528"],"related_works":["https://openalex.org/W2125871801","https://openalex.org/W2161240633","https://openalex.org/W4386821976","https://openalex.org/W2970345194","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W1585960250","https://openalex.org/W2152464524","https://openalex.org/W2149015029","https://openalex.org/W2120540633"],"abstract_inverted_index":{"This":[0],"work":[1,112],"addresses":[2],"range-only":[3],"SLAM":[4],"(RO-SLAM)":[5],"as":[6],"the":[7,18,33,44,50,54,114,124],"Bayesian":[8],"inference":[9],"problem":[10],"of":[11,20,23,35,42,57,70,107,113],"sequentially":[12],"tracking":[13],"a":[14,21,38,61,84,103,117,134],"vehicle":[15],"while":[16],"estimating":[17],"location":[19],"set":[22],"beacons":[24],"without":[25],"any":[26],"prior":[27],"information.":[28],"The":[29],"only":[30],"assumptions":[31],"are":[32],"availability":[34],"odometry":[36],"and":[37,141],"range":[39],"sensor":[40],"able":[41],"identifying":[43],"different":[45],"beacons.":[46],"We":[47,101],"propose":[48],"exploiting":[49],"conditional":[51,125],"independence":[52],"between":[53],"position":[55],"distributions":[56],"each":[58,74],"beacon":[59],"within":[60],"Rao-Blackwellized":[62],"Particle":[63],"Filter":[64],"(RBPF)":[65],"for":[66,73,92,98,123],"maintaining":[67],"independent":[68],"Sum":[69],"Gaussians":[71],"(SOGs)":[72],"beacon.":[75],"Unlike":[76],"other":[77],"approaches,":[78],"it":[79],"is":[80],"shown":[81],"then":[82],"that":[83],"proper":[85],"probabilistic":[86],"observation":[87],"model":[88],"can":[89],"be":[90],"derived":[91],"online":[93],"operation":[94],"with":[95,110],"no":[96],"need":[97],"delayed":[99],"initializations.":[100],"provide":[102],"rigorous":[104],"statistical":[105],"comparison":[106],"this":[108,130],"proposal":[109,132],"previous":[111],"authors":[115],"where":[116],"Monte-Carlo":[118],"approximation":[119],"was":[120],"employed":[121],"instead":[122],"densities.":[126],"As":[127],"verified":[128],"experimentally,":[129],"new":[131],"represents":[133],"significant":[135],"improvement":[136],"in":[137],"accuracy,":[138],"computation":[139],"time,":[140],"robustness":[142],"against":[143],"outliers.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
