{"id":"https://openalex.org/W2125764070","doi":"https://doi.org/10.1109/iros.2009.5354445","title":"Multi-sensor fusion for reduced uncertainty in autonomous mobile robot docking and recharging","display_name":"Multi-sensor fusion for reduced uncertainty in autonomous mobile robot docking and recharging","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2125764070","doi":"https://doi.org/10.1109/iros.2009.5354445","mag":"2125764070"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5113503581","display_name":"Ren C. Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ren C. Luo","raw_affiliation_strings":["Intelligent Robotic and Automation Laboratory, Department of Electrical Engineering, National Taiwan University, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotic and Automation Laboratory, Department of Electrical Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113520574","display_name":"Chung T. Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I162521676","display_name":"WuFeng University","ror":"https://ror.org/05d293n36","country_code":"TW","type":"education","lineage":["https://openalex.org/I162521676"]},{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chung T. Liao","raw_affiliation_strings":["Department of Electronic Engineering, Wu Feng Institute of Technology, Taiwan","Intelligent Robotic and Automation Laboratory, Department of Electrical Engineering, National Taiwan University, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Wu Feng Institute of Technology, Taiwan","institution_ids":["https://openalex.org/I162521676"]},{"raw_affiliation_string":"Intelligent Robotic and Automation Laboratory, Department of Electrical Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074394977","display_name":"Shih Chin Lin","orcid":"https://orcid.org/0009-0009-7068-7251"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shih C. Lin","raw_affiliation_strings":["Intelligent Robotic and Automation Laboratory, Department of Electrical Engineering, National Taiwan University, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotic and Automation Laboratory, Department of Electrical Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5307,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.96116028,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2203","last_page":"2208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/mobile-robot","display_name":"Mobile robot","score":0.7413001656532288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6883485317230225},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6824437379837036},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6338765025138855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5988726615905762},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.5545347929000854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5492404699325562},{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.4767518937587738},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4234324097633362},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39843684434890747},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.23267361521720886},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1846434473991394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13542690873146057}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7413001656532288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6883485317230225},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6824437379837036},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6338765025138855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5988726615905762},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.5545347929000854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5492404699325562},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.4767518937587738},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4234324097633362},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39843684434890747},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.23267361521720886},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1846434473991394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13542690873146057},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2003258311","https://openalex.org/W2022690874","https://openalex.org/W2075835021","https://openalex.org/W2093353338","https://openalex.org/W2104173376","https://openalex.org/W2118608021","https://openalex.org/W2120644951","https://openalex.org/W2122938749","https://openalex.org/W2128091276","https://openalex.org/W2140344150","https://openalex.org/W2141393672","https://openalex.org/W2148234182","https://openalex.org/W2163639028","https://openalex.org/W2172024982","https://openalex.org/W2533950386","https://openalex.org/W4249118251","https://openalex.org/W6678340865","https://openalex.org/W6685487687"],"related_works":["https://openalex.org/W2142338363","https://openalex.org/W2718384077","https://openalex.org/W1597192237","https://openalex.org/W2022823194","https://openalex.org/W2543883930","https://openalex.org/W2317323511","https://openalex.org/W2395573186","https://openalex.org/W2034294006","https://openalex.org/W338040569","https://openalex.org/W2074589917"],"abstract_inverted_index":{"The":[0],"power":[1,24],"management":[2],"system":[3],"for":[4,12,58],"autonomous":[5],"mobile":[6],"robots":[7,14],"is":[8,20,63,121],"an":[9],"important":[10],"issue":[11],"keeping":[13],"in":[15,73,107],"their":[16],"long-time":[17],"functionality.":[18],"Recharging":[19],"necessary":[21],"before":[22],"the":[23,26,51,56,77,85,88,104,108,111,115,118,134,137],"of":[25,136],"robot":[27,52,116],"has":[28],"exhausted.":[29],"In":[30],"this":[31],"paper,":[32],"we":[33],"propose":[34],"a":[35,66,70],"multi-sensor":[36],"fusing":[37],"method":[38],"using":[39,80,127],"intensity":[40],"and":[41,117],"range":[42,89,94],"data":[43,90],"fusion":[44],"with":[45],"covariance":[46,128],"intersection":[47,129],"approach":[48],"to":[49,75],"locate":[50],"pose":[53],"while":[54],"performing":[55],"docking":[57,71,119],"recharging.":[59],"An":[60],"artificial":[61],"landmark":[62],"employed":[64],"as":[65,98],"visual":[67],"cue":[68],"on":[69],"station":[72,120],"order":[74],"recognize":[76],"location":[78],"by":[79,92,126],"inverse":[81],"perspective":[82],"projection.":[83],"At":[84],"same":[86],"time,":[87],"acquired":[91],"laser":[93],"finder":[95],"are":[96,103],"modeled":[97],"multiple":[99],"line":[100],"segments":[101],"which":[102],"hypothetical":[105],"walls":[106],"environment.":[109],"Then":[110],"geometrical":[112],"relationship":[113],"between":[114],"estimated":[122],"much":[123],"more":[124],"precise":[125],"approach.":[130],"We":[131],"have":[132],"demonstrated":[133],"success":[135],"proposed":[138],"algorithms":[139],"through":[140],"experimental":[141],"results.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
