{"id":"https://openalex.org/W3004038634","doi":"https://doi.org/10.1109/iros40897.2019.8968169","title":"Concurrent Flow-Based Localization and Mapping in Time-Invariant Flow Fields","display_name":"Concurrent Flow-Based Localization and Mapping in Time-Invariant Flow Fields","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004038634","doi":"https://doi.org/10.1109/iros40897.2019.8968169","mag":"3004038634"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5000263786","display_name":"Zhuoyuan Song","orcid":"https://orcid.org/0000-0002-7442-8435"},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]},{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]},{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuoyuan Song","raw_affiliation_strings":["University of Florida, University of Hawai&#x00ED; M&#x0101;noa,Department of Mechanical and Aerospace Engineering, Department of Mechanical Engineering,Honolulu,HI,USA,96822","Department of Mechanical and Aerospace Engineering, Department of Mechanical Engineering, University of Florida, University of Hawai\u00ed M\u0101noa, Honolulu, HI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida, University of Hawai&#x00ED; M&#x0101;noa,Department of Mechanical and Aerospace Engineering, Department of Mechanical Engineering,Honolulu,HI,USA,96822","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Department of Mechanical Engineering, University of Florida, University of Hawai\u00ed M\u0101noa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899","https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064775139","display_name":"Kamran Mohseni","orcid":"https://orcid.org/0000-0002-1382-221X"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kamran Mohseni","raw_affiliation_strings":["Institute for Networked Autonomous Systems, University of Florida,William P. Bushnell Endowed Chaired Professor,Gainesville,FL,USA,32611","William P. Bushnell Endowed Chaired Professor, Institute for Networked Autonomous Systems, University of Florida, Gainesville, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Networked Autonomous Systems, University of Florida,William P. Bushnell Endowed Chaired Professor,Gainesville,FL,USA,32611","institution_ids":["https://openalex.org/I33213144"]},{"raw_affiliation_string":"William P. Bushnell Endowed Chaired Professor, Institute for Networked Autonomous Systems, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.66,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72693127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7205","last_page":"7210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.998199999332428,"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/ocean-gyre","display_name":"Ocean gyre","score":0.8703939914703369},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.6289675235748291},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5979892015457153},{"id":"https://openalex.org/keywords/turbulence","display_name":"Turbulence","score":0.5582463145256042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5343225598335266},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5014870166778564},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4624939262866974},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.46127912402153015},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.45751872658729553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4552752375602722},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.45490962266921997},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4229722023010254},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42267778515815735},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3521604537963867},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27397826313972473},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.19861295819282532},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1320684254169464},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09912428259849548},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.07677760720252991}],"concepts":[{"id":"https://openalex.org/C30380174","wikidata":"https://www.wikidata.org/wiki/Q1250263","display_name":"Ocean gyre","level":3,"score":0.8703939914703369},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.6289675235748291},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5979892015457153},{"id":"https://openalex.org/C196558001","wikidata":"https://www.wikidata.org/wiki/Q190132","display_name":"Turbulence","level":2,"score":0.5582463145256042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5343225598335266},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5014870166778564},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4624939262866974},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.46127912402153015},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.45751872658729553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4552752375602722},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.45490962266921997},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4229722023010254},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42267778515815735},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3521604537963867},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27397826313972473},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.19861295819282532},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1320684254169464},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09912428259849548},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.07677760720252991},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C14168384","wikidata":"https://www.wikidata.org/wiki/Q16305538","display_name":"Subtropics","level":2,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1577509784","https://openalex.org/W1926838357","https://openalex.org/W1968315983","https://openalex.org/W1969142081","https://openalex.org/W2005389775","https://openalex.org/W2026826893","https://openalex.org/W2028830324","https://openalex.org/W2035537531","https://openalex.org/W2080823437","https://openalex.org/W2084755618","https://openalex.org/W2096175771","https://openalex.org/W2096478029","https://openalex.org/W2116599690","https://openalex.org/W2122424119","https://openalex.org/W2125241820","https://openalex.org/W2135261995","https://openalex.org/W2146881125","https://openalex.org/W2153054365","https://openalex.org/W2213026911","https://openalex.org/W2336416123","https://openalex.org/W2461937780","https://openalex.org/W2537007072","https://openalex.org/W2557998141","https://openalex.org/W2963965993","https://openalex.org/W3124420883","https://openalex.org/W6657713166"],"related_works":["https://openalex.org/W271696883","https://openalex.org/W4220916127","https://openalex.org/W2052374367","https://openalex.org/W2186223391","https://openalex.org/W2402052586","https://openalex.org/W1965084365","https://openalex.org/W2490221126","https://openalex.org/W2149789347","https://openalex.org/W2013650479","https://openalex.org/W1750372561"],"abstract_inverted_index":{"We":[0],"present":[1],"the":[2,21,30,38,80,91,136,145],"concept":[3],"of":[4,62,82,97,144],"concurrent":[5],"flow-based":[6],"localization":[7,24,138],"and":[8,25,48,118,140],"mapping":[9,26,52],"(FLAM)":[10],"for":[11,45],"autonomous":[12],"field":[13,51,117,122],"robots":[14,47],"navigating":[15],"within":[16,103],"background":[17,146],"flows.":[18],"Different":[19],"from":[20],"classical":[22],"simultaneous":[23],"(SLAM)":[27],"problem,":[28],"where":[29],"robot":[31,158],"interacts":[32],"with":[33,54,123],"discrete":[34],"features,":[35],"FLAM":[36,83,98,131,154],"utilizes":[37],"continuous":[39],"flow":[40,50,56,105,116,121,147],"fields":[41,106],"as":[42,84],"navigation":[43],"references":[44],"mobile":[46],"provides":[49,132],"capability":[53],"in-situ":[55],"velocity":[57],"observations.":[58],"This":[59,77],"approach":[60],"is":[61,150],"importance":[63],"to":[64,156],"underwater":[65],"vehicles":[66,72],"in":[67,73,135],"mid-depth":[68],"oceans":[69],"or":[70],"aerial":[71],"GPS-denied":[74],"atmospheric":[75],"circulations.":[76],"article":[78],"introduces":[79],"formulation":[81],"a":[85,113,119,141],"full":[86],"SLAM":[87],"solution":[88],"motivated":[89],"by":[90],"feature-based":[92],"GraphSLAM":[93],"framework.":[94],"The":[95,127],"performance":[96],"was":[99],"demonstrated":[100],"through":[101],"simulation":[102],"artificial":[104],"that":[107,130,153],"represent":[108],"typical":[109],"geophysical":[110],"circulation":[111],"phenomena:":[112],"steady":[114],"single-gyre":[115],"double-gyre":[120],"unsteady":[124],"turbulent":[125],"perturbations.":[126],"results":[128],"indicate":[129],"significant":[133],"improvements":[134],"robots'":[137],"accuracy":[139],"consistent":[142],"approximation":[143],"field.":[148],"It":[149],"also":[151],"shown":[152],"leads":[155],"smooth":[157],"trajectory":[159],"estimates.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-27T08:28:00.272161","created_date":"2025-10-10T00:00:00"}
