{"id":"https://openalex.org/W2036647862","doi":"https://doi.org/10.1109/iros.2012.6385608","title":"Robust acoustic source localization of emergency signals from Micro Air Vehicles","display_name":"Robust acoustic source localization of emergency signals from Micro Air Vehicles","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2036647862","doi":"https://doi.org/10.1109/iros.2012.6385608","mag":"2036647862"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/181795","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046287015","display_name":"Meysam Basiri","orcid":"https://orcid.org/0000-0002-8456-6284"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","PT"],"is_corresponding":false,"raw_author_name":"Meysam Basiri","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Tecnico, Lisboa, Portugal","Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Tecnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061197893","display_name":"Felix Schill","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Felix Schill","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079158943","display_name":"Pedro U. Lima","orcid":"https://orcid.org/0000-0002-8962-8050"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro U. Lima","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior Tecnico, Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior Tecnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.928,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.93037448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4737","last_page":"4742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9995999932289124,"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":0.9995999932289124,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9883999824523926,"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/computer-science","display_name":"Computer science","score":0.5525189638137817},{"id":"https://openalex.org/keywords/narrowband","display_name":"Narrowband","score":0.5127424001693726},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.4958978593349457},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4930102527141571},{"id":"https://openalex.org/keywords/sound","display_name":"Sound (geography)","score":0.47715824842453003},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.45183998346328735},{"id":"https://openalex.org/keywords/cockpit","display_name":"Cockpit","score":0.4517792761325836},{"id":"https://openalex.org/keywords/alarm","display_name":"ALARM","score":0.447447806596756},{"id":"https://openalex.org/keywords/acoustic-source-localization","display_name":"Acoustic source localization","score":0.44467005133628845},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.42200514674186707},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.371192067861557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32131919264793396},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.2787479758262634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22011759877204895},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.21793609857559204},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1484101116657257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09919095039367676}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5525189638137817},{"id":"https://openalex.org/C2776096036","wikidata":"https://www.wikidata.org/wiki/Q1140483","display_name":"Narrowband","level":2,"score":0.5127424001693726},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.4958978593349457},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4930102527141571},{"id":"https://openalex.org/C203718221","wikidata":"https://www.wikidata.org/wiki/Q491713","display_name":"Sound (geography)","level":2,"score":0.47715824842453003},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.45183998346328735},{"id":"https://openalex.org/C30322324","wikidata":"https://www.wikidata.org/wiki/Q194156","display_name":"Cockpit","level":2,"score":0.4517792761325836},{"id":"https://openalex.org/C2779119184","wikidata":"https://www.wikidata.org/wiki/Q294350","display_name":"ALARM","level":2,"score":0.447447806596756},{"id":"https://openalex.org/C93240960","wikidata":"https://www.wikidata.org/wiki/Q217270","display_name":"Acoustic source localization","level":3,"score":0.44467005133628845},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.42200514674186707},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.371192067861557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32131919264793396},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.2787479758262634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22011759877204895},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.21793609857559204},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1484101116657257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09919095039367676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":3,"locations":[{"id":"doi:10.1109/iros.2012.6385608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.367.7140","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.367.7140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/181795/files/Basiri.2012_IROS_Acoustic_localisation.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:181795","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/181795","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:181795","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/181795","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6466228970","display_name":null,"funder_award_id":"SFRH/BD/51070/2010","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G7674749716","display_name":null,"funder_award_id":"PEst-OE/EEI/LA0009/2011","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W70999531","https://openalex.org/W1483307070","https://openalex.org/W1576399034","https://openalex.org/W1901709303","https://openalex.org/W2009272234","https://openalex.org/W2026205542","https://openalex.org/W2063555476","https://openalex.org/W2075665712","https://openalex.org/W2090610437","https://openalex.org/W2104422351","https://openalex.org/W2107493093","https://openalex.org/W2121065047","https://openalex.org/W2130416410","https://openalex.org/W3173503818","https://openalex.org/W4240278298","https://openalex.org/W6602871313","https://openalex.org/W6634519950","https://openalex.org/W6639624281","https://openalex.org/W6678139903","https://openalex.org/W6797375751"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2526240748","https://openalex.org/W2909947097","https://openalex.org/W2264340699","https://openalex.org/W4286283119","https://openalex.org/W2242771483","https://openalex.org/W4321064568","https://openalex.org/W2614568988"],"abstract_inverted_index":{"In":[0,133],"search":[1,19],"and":[2,21,54,70,109,116,123,131,198,235],"rescue":[3,34,59],"missions,":[4,80],"Micro":[5],"Air":[6],"Vehicles":[7],"(MAV's)":[8],"can":[9],"assist":[10],"rescuers":[11,117],"to":[12,22,64,83,146,174,208,233],"faster":[13],"locate":[14,84,147,234],"victims":[15,115],"inside":[16],"a":[17,75,88,99,138,144,159,167,171,221,226,240],"large":[18],"area":[20],"coordinate":[23],"their":[24],"efforts.":[25],"Acoustic":[26],"signals":[27,182],"play":[28],"an":[29,94],"important":[30,108],"role":[31],"in":[32,51,78,101,124,202,220],"outdoor":[33,52],"operations.":[35],"Emergency":[36],"whistles,":[37],"as":[38,61,93,128,155],"found":[39],"on":[40,151,170,189,244],"most":[41],"aircraft":[42],"life":[43],"vests,":[44],"are":[45,55],"commonly":[46],"carried":[47],"by":[48,58,98],"people":[49],"engaging":[50],"activities,":[53],"also":[56],"used":[57,232],"teams,":[60],"they":[62],"allow":[63,111],"signal":[65],"reliably":[66],"over":[67],"long":[68],"distances":[69],"far":[71],"beyond":[72],"visibility.":[73],"For":[74],"MAV":[76,145],"involved":[77],"such":[79,92,127,154],"the":[81,85,112,152,156,178,190,192,195,199,205,209,212,237,245],"ability":[82],"source":[86,140,243],"of":[87,103,114,158,183,194,204,211,239],"distress":[89],"sound":[90,139,149,157,206,242],"signal,":[91],"emergency":[95],"whistle":[96,160],"blown":[97],"person":[100],"need":[102],"help,":[104],"is":[105,231],"therefore":[106],"significantly":[107],"would":[110],"localization":[113,141],"during":[118],"night":[119],"time,":[120],"through":[121],"foliage":[122],"adverse":[125],"conditions":[126],"dust,":[129],"fog":[130],"smoke.":[132],"this":[134],"paper":[135],"we":[136,215],"present":[137],"system":[142],"for":[143],"narrowband":[148,241],"sources":[150],"ground,":[153],"or":[161],"personal":[162],"alarm":[163],"siren.":[164],"We":[165],"propose":[166],"method":[168,219],"based":[169],"particle":[172],"filter":[173],"combine":[175],"information":[176],"from":[177],"cross":[179],"correlation":[180],"between":[181],"four":[184],"spatially":[185],"separated":[186],"microphones":[187],"mounted":[188],"MAV,":[191],"dynamics":[193],"aerial":[196],"platform,":[197],"doppler":[200],"shift":[201],"frequency":[203],"due":[207],"motion":[210],"MAV.":[213],"Furthermore,":[214],"evaluate":[216],"our":[217],"proposed":[218],"real":[222],"world":[223],"experiment":[224],"where":[225],"flying":[227],"micro":[228],"air":[229],"vehicle":[230],"track":[236],"position":[238],"ground.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
