{"id":"https://openalex.org/W1989174324","doi":"https://doi.org/10.1109/iros.2010.5650442","title":"Active sensing for range-only mapping using multiple hypothesis","display_name":"Active sensing for range-only mapping using multiple hypothesis","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1989174324","doi":"https://doi.org/10.1109/iros.2010.5650442","mag":"1989174324"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"L Merino","raw_affiliation_strings":["Pablo de Olavide University, Seville, Spain","Pablo de Olavide University, Carretera Utrera km1, 41013, Sevilla (Spain)"],"affiliations":[{"raw_affiliation_string":"Pablo de Olavide University, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]},{"raw_affiliation_string":"Pablo de Olavide University, Carretera Utrera km1, 41013, Sevilla (Spain)","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040477311","display_name":"Fernando Caballero","orcid":"https://orcid.org/0000-0001-8869-2846"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"F Caballero","raw_affiliation_strings":["Escuela Superior de Ingenieros, University of Seville, Seville, Spain","University of Seville, Escuela Superior de Ingenieros, Camino de los Descubrimientos s/n, 41092 (Spain)"],"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenieros, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"University of Seville, Escuela Superior de Ingenieros, Camino de los Descubrimientos s/n, 41092 (Spain)","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A Ollero","raw_affiliation_strings":["Escuela Superior de Ingenieros, University of Seville, Seville, Spain","University of Seville, Escuela Superior de Ingenieros, Camino de los Descubrimientos s/n, 41092 (Spain)"],"affiliations":[{"raw_affiliation_string":"Escuela Superior de Ingenieros, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"University of Seville, Escuela Superior de Ingenieros, Camino de los Descubrimientos s/n, 41092 (Spain)","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042031541"],"corresponding_institution_ids":["https://openalex.org/I95013407"],"apc_list":null,"apc_paid":null,"fwci":2.0575,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87135633,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"37","last_page":"42"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9972000122070312,"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":0.9936000108718872,"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":0.6981085538864136},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6769883036613464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6641992330551147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5742583870887756},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5538238883018494},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5397423505783081},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.5350685119628906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5098525881767273},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5078495144844055},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5008985996246338},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.4917457401752472},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4550229012966156},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4373266398906708},{"id":"https://openalex.org/keywords/electric-beacon","display_name":"Electric beacon","score":0.42436331510543823},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34958672523498535},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2984592318534851},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.19808480143547058}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6981085538864136},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6769883036613464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6641992330551147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5742583870887756},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5538238883018494},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5397423505783081},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.5350685119628906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5098525881767273},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5078495144844055},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5008985996246338},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.4917457401752472},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4550229012966156},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4373266398906708},{"id":"https://openalex.org/C98887418","wikidata":"https://www.wikidata.org/wiki/Q908488","display_name":"Electric beacon","level":2,"score":0.42436331510543823},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34958672523498535},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2984592318534851},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.19808480143547058},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5650442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.722.8450","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.722.8450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.upo.es/isa/lmercab/publications/papers/merino_iros10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1684737195","https://openalex.org/W1966390754","https://openalex.org/W1966871700","https://openalex.org/W2006245542","https://openalex.org/W2023837733","https://openalex.org/W2068003469","https://openalex.org/W2114059007","https://openalex.org/W2130326036","https://openalex.org/W2135489390","https://openalex.org/W2143494529","https://openalex.org/W2155377758","https://openalex.org/W2155881359","https://openalex.org/W2163280245","https://openalex.org/W2164785268","https://openalex.org/W2171357383","https://openalex.org/W2172103629","https://openalex.org/W6681131941"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481","https://openalex.org/W2583542422"],"abstract_inverted_index":{"Radio":[0],"signal-based":[1],"localization":[2],"and":[3,18,95],"mapping":[4,31],"is":[5,87,107,127],"becoming":[6],"more":[7,23],"interesting":[8],"in":[9,79],"robotics":[10],"as":[11,89,105],"applications":[12],"involving":[13],"the":[14,36,58,61,69,72,83,102,112,120,138,141],"collaboration":[15],"between":[16],"robots":[17],"static":[19],"wireless":[20,62],"devices":[21],"are":[22,129],"common.":[24],"This":[25],"paper":[26,70,133],"describes":[27,134],"a":[28,33,39,65,90,115],"method":[29,48,73],"for":[30,54,111,122],"with":[32],"mobile":[34],"robot":[35],"position":[37,59],"of":[38,41,57,60,92,101,114,119,140],"set":[40],"nodes":[42,63],"using":[43],"radio":[44],"signal":[45],"measurements.":[46],"The":[47,132],"employs":[49],"Gaussian":[50],"Mixtures":[51],"Models":[52],"(GMM)":[53],"undelayed":[55],"initialization":[56],"within":[64],"Kalman":[66],"filter.":[67],"Moreover,":[68],"extends":[71],"to":[74,81,97],"consider":[75],"active":[76],"sensing":[77],"strategies":[78],"order":[80],"map":[82],"nodes.":[84],"Entropy":[85],"variation":[86],"used":[88,130],"measurement":[91],"information":[93],"gain,":[94],"allows":[96],"prioritize":[98],"control":[99],"actions":[100],"robot.":[103],"However,":[104],"there":[106],"no":[108],"analytical":[109],"expression":[110],"entropy":[113],"GMM,":[116],"upper":[117],"bounds":[118],"entropy,":[121],"which":[123],"close":[124],"form":[125],"computation":[126],"possible,":[128],"instead.":[131],"simulations":[135],"that":[136],"show":[137],"feasibility":[139],"approach.":[142]},"counts_by_year":[{"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":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}