{"id":"https://openalex.org/W3130106235","doi":"https://doi.org/10.1109/iros45743.2020.9341434","title":"Localization Safety Validation for Autonomous Robots","display_name":"Localization Safety Validation for Autonomous Robots","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130106235","doi":"https://doi.org/10.1109/iros45743.2020.9341434","mag":"3130106235"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5068868053","display_name":"Guillermo Duenas Arana","orcid":"https://orcid.org/0000-0003-3264-2828"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guillermo Duenas Arana","raw_affiliation_strings":["Illinois Institute of Technology, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071975414","display_name":"Osama Abdul Hafez","orcid":"https://orcid.org/0000-0002-2436-6934"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Osama Abdul Hafez","raw_affiliation_strings":["Illinois Institute of Technology, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055276363","display_name":"Mathieu Joerger","orcid":"https://orcid.org/0000-0002-6391-9095"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mathieu Joerger","raw_affiliation_strings":["Virginia Tech, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077307223","display_name":"Matthew Spenko","orcid":"https://orcid.org/0000-0001-6483-5339"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Spenko","raw_affiliation_strings":["Illinois Institute of Technology, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068868053"],"corresponding_institution_ids":["https://openalex.org/I180949307"],"apc_list":null,"apc_paid":null,"fwci":1.0355,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83010158,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6276","last_page":"6281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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"}},{"id":"https://openalex.org/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.6805875897407532},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6702013611793518},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6666898727416992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6338563561439514},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5473088622093201},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.536048948764801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5027515888214111},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.45566481351852417},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4185335040092468},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41263046860694885},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35626906156539917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.19869354367256165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19813144207000732}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6805875897407532},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6702013611793518},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6666898727416992},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6338563561439514},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5473088622093201},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.536048948764801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5027515888214111},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.45566481351852417},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4185335040092468},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41263046860694885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35626906156539917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.19869354367256165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19813144207000732},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1558685142","https://openalex.org/W1603631609","https://openalex.org/W1973131250","https://openalex.org/W2026702887","https://openalex.org/W2074281461","https://openalex.org/W2080647722","https://openalex.org/W2116364955","https://openalex.org/W2141026532","https://openalex.org/W2153054365","https://openalex.org/W2414542138","https://openalex.org/W2461937780","https://openalex.org/W2746349752","https://openalex.org/W2773933661","https://openalex.org/W2790374560","https://openalex.org/W2888687990","https://openalex.org/W2890897099","https://openalex.org/W2904024822","https://openalex.org/W2967265204","https://openalex.org/W2968403501","https://openalex.org/W2968549433","https://openalex.org/W3124420883","https://openalex.org/W4285053689"],"related_works":["https://openalex.org/W2383807498","https://openalex.org/W2089114113","https://openalex.org/W1978572805","https://openalex.org/W1997992934","https://openalex.org/W1987225439","https://openalex.org/W4238188170","https://openalex.org/W2389555968","https://openalex.org/W4225393332","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,14],"method":[4],"to":[5,66,74,109],"validate":[6],"localization":[7,32,87,112],"safety":[8,18,52,77,113],"for":[9,47,86],"preplanned":[11],"trajectory":[12],"in":[13,41,43],"given":[15],"environment.":[16],"Localization":[17],"is":[19,114],"defined":[20],"as":[21,26],"integrity":[22,95],"risk":[23,35],"and":[24,50,69,104],"quantified":[25],"the":[27,54,76],"probability":[28],"of":[29,58,78],"an":[30],"undetected":[31],"failure.":[33],"Integrity":[34],"differs":[36,91],"from":[37,92],"previously":[38,93],"used":[39],"metrics":[40],"robotics":[42],"that":[44,98,111],"it":[45],"accounts":[46],"unmodeled":[48],"faults":[49],"evaluates":[51],"under":[53],"worst":[55],"possible":[56],"combination":[57],"faults.":[59],"The":[60,81],"methodology":[61],"can":[62,71],"be":[63,72],"applied":[64],"prior":[65],"mission":[67],"execution":[68],"thus":[70],"employed":[73],"evaluate":[75],"potential":[79],"trajectories.":[80],"work":[82],"has":[83],"been":[84],"formulated":[85],"via":[88],"smoothing,":[89],"which":[90],"reported":[94],"monitoring":[96],"methods":[97],"rely":[99],"on":[100],"Kalman":[101],"filtering.":[102],"Simulation":[103],"experimental":[105],"results":[106],"are":[107],"analyzed":[108],"show":[110],"effectively":[115],"quantified.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
