{"id":"https://openalex.org/W2033784986","doi":"https://doi.org/10.1109/iros.2008.4650843","title":"Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach","display_name":"Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2033784986","doi":"https://doi.org/10.1109/iros.2008.4650843","mag":"2033784986"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650843","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":"conference-paper","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/A5086101752","display_name":"Hyoung-Ki Lee","orcid":"https://orcid.org/0000-0001-7206-2081"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4399598381","display_name":"Samsung Advanced Institute of Technology (South Korea)","ror":"https://ror.org/04axnyp10","country_code":null,"type":"company","lineage":["https://openalex.org/I4399598381"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyoung-Ki Lee","raw_affiliation_strings":["Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","institution_ids":["https://openalex.org/I2250650973","https://openalex.org/I4399598381"]},{"raw_affiliation_string":"Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090302970","display_name":"Kiwan Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4399598381","display_name":"Samsung Advanced Institute of Technology (South Korea)","ror":"https://ror.org/04axnyp10","country_code":null,"type":"company","lineage":["https://openalex.org/I4399598381"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kiwan Choi","raw_affiliation_strings":["Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","institution_ids":["https://openalex.org/I2250650973","https://openalex.org/I4399598381"]},{"raw_affiliation_string":"Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409599","display_name":"Jiyoung Park","orcid":"https://orcid.org/0000-0002-8132-3834"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4399598381","display_name":"Samsung Advanced Institute of Technology (South Korea)","ror":"https://ror.org/04axnyp10","country_code":null,"type":"company","lineage":["https://openalex.org/I4399598381"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jiyoung Park","raw_affiliation_strings":["Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","institution_ids":["https://openalex.org/I2250650973","https://openalex.org/I4399598381"]},{"raw_affiliation_string":"Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112449696","display_name":"Yeon-Ho Kim","orcid":"https://orcid.org/0000-0001-8621-5608"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4399598381","display_name":"Samsung Advanced Institute of Technology (South Korea)","ror":"https://ror.org/04axnyp10","country_code":null,"type":"company","lineage":["https://openalex.org/I4399598381"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeon-Ho Kim","raw_affiliation_strings":["Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","institution_ids":["https://openalex.org/I2250650973","https://openalex.org/I4399598381"]},{"raw_affiliation_string":"Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080100832","display_name":"Seokwon Bang","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4399598381","display_name":"Samsung Advanced Institute of Technology (South Korea)","ror":"https://ror.org/04axnyp10","country_code":null,"type":"company","lineage":["https://openalex.org/I4399598381"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokwon Bang","raw_affiliation_strings":["Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Micro Systems Laboratory, Samsung Advanced Institute of Technology, South Korea","institution_ids":["https://openalex.org/I2250650973","https://openalex.org/I4399598381"]},{"raw_affiliation_string":"Micro Syst. Lab., Samsung Adv. Inst. of Technol., Yongin","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1140","last_page":"1147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9990000128746033,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8740191459655762},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8432896137237549},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.7323662638664246},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6316542029380798},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5980409979820251},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.591065526008606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5711227059364319},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5354530811309814},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4739675223827362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46207526326179504},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4446985423564911},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43471017479896545},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.42973199486732483},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.41957640647888184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2576921284198761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21673369407653809},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1183316707611084},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07221683859825134}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8740191459655762},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8432896137237549},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.7323662638664246},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6316542029380798},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5980409979820251},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.591065526008606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5711227059364319},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5354530811309814},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4739675223827362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46207526326179504},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4446985423564911},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43471017479896545},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.42973199486732483},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.41957640647888184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2576921284198761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21673369407653809},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1183316707611084},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07221683859825134},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650843","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1564768010","https://openalex.org/W1599326394","https://openalex.org/W1655959979","https://openalex.org/W1897155787","https://openalex.org/W2015477980","https://openalex.org/W2035633629","https://openalex.org/W2097009900","https://openalex.org/W2097108504","https://openalex.org/W2109453544","https://openalex.org/W2111152968","https://openalex.org/W2111266337","https://openalex.org/W2117354219","https://openalex.org/W2119911619","https://openalex.org/W2121078404","https://openalex.org/W2134822252","https://openalex.org/W2137666905","https://openalex.org/W2140643835","https://openalex.org/W2155321470","https://openalex.org/W2156782387","https://openalex.org/W2162351528","https://openalex.org/W2163437409","https://openalex.org/W2166220596","https://openalex.org/W2168004776","https://openalex.org/W2183475719","https://openalex.org/W2336416123","https://openalex.org/W6677609277","https://openalex.org/W6678099018"],"related_works":["https://openalex.org/W2331134302","https://openalex.org/W1572218428","https://openalex.org/W4387559098","https://openalex.org/W4367281123","https://openalex.org/W4387452254","https://openalex.org/W2098659692","https://openalex.org/W2103062922","https://openalex.org/W2141674674","https://openalex.org/W2770318696","https://openalex.org/W2162299404"],"abstract_inverted_index":{"Although":[0],"dead":[1],"reckoning":[2],"based":[3],"on":[4,26,111],"odometry":[5],"and":[6,22,63,92,117],"inertial":[7],"sensors":[8],"is":[9,54,83,103],"essential":[10],"for":[11,89,95],"a":[12,41,45,74],"robotic":[13],"localization":[14],"system,":[15],"none":[16],"of":[17,32,61,67,122],"previous":[18],"works":[19],"gives":[20,118],"reliable":[21],"accurate":[23],"position":[24],"estimates":[25],"irregular":[27],"terrain":[28],"over":[29],"long":[30],"periods":[31],"time.":[33],"Classical":[34],"approaches":[35],"use":[36],"one":[37,85],"estimator":[38],"(such":[39],"as":[40],"Kalman":[42,81,86,108],"filter)":[43],"with":[44,59],"single":[46,51],"system":[47,52],"model.":[48],"However":[49],"the":[50,68,93,119],"model":[53,76],"not":[55],"good":[56],"to":[57,105,130],"deal":[58],"both":[60],"slip":[62,96,113],"no-slip":[64,90],"situations":[65],"because":[66],"dynamics":[69],"changes.":[70],"In":[71],"this":[72],"paper,":[73],"multiple":[75],"approach":[77],"that":[78],"uses":[79],"two":[80,107,123],"filters":[82,109],"presented:":[84],"filter":[87,124],"accounting":[88],"condition":[91],"other":[94],"condition.":[97],"The":[98],"Interacting":[99],"Multiple":[100],"Model":[101],"(IMM)":[102],"adopted":[104],"switch":[106],"depending":[110],"whether":[112],"occurs":[114],"or":[115],"not,":[116],"weighted":[120],"sum":[121],"estimates.":[125],"Experimental":[126],"results":[127],"are":[128],"included":[129],"validate":[131],"our":[132],"approach.":[133]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
