{"id":"https://openalex.org/W4313139029","doi":"https://doi.org/10.1109/iros47612.2022.9981301","title":"Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements","display_name":"Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313139029","doi":"https://doi.org/10.1109/iros47612.2022.9981301"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981301","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5015005802","display_name":"Charles Champagne Cossette","orcid":"https://orcid.org/0000-0002-9380-8361"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Charles Champagne Cossette","raw_affiliation_strings":["McGill University,Department of Mech. Engineering","Department of Mech. Engineering, McGill University"],"affiliations":[{"raw_affiliation_string":"McGill University,Department of Mech. Engineering","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mech. Engineering, McGill University","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074112480","display_name":"Mohammed Shalaby","orcid":"https://orcid.org/0000-0002-6145-6509"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohammed Ayman Shalaby","raw_affiliation_strings":["McGill University,Department of Mech. Engineering","Department of Mech. Engineering, McGill University"],"affiliations":[{"raw_affiliation_string":"McGill University,Department of Mech. Engineering","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mech. Engineering, McGill University","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009098894","display_name":"David Saussi\u00e9","orcid":"https://orcid.org/0000-0002-4228-1109"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Saussi\u00e9","raw_affiliation_strings":["Polytechnique Montr&#x00E9;al.,Department of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"Polytechnique Montr&#x00E9;al.,Department of Electrical Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012980200","display_name":"J\u00e9r\u00f4me Le Ny","orcid":"https://orcid.org/0000-0002-3417-4135"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J\u00e9r\u00f4me Le Ny","raw_affiliation_strings":["McGill University,Department of Mech. Engineering","Department of Mech. Engineering, McGill University"],"affiliations":[{"raw_affiliation_string":"McGill University,Department of Mech. Engineering","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mech. Engineering, McGill University","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023450612","display_name":"James Richard Forbes","orcid":"https://orcid.org/0000-0002-1987-9268"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"James Richard Forbes","raw_affiliation_strings":["Polytechnique Montr&#x00E9;al.,Department of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"Polytechnique Montr&#x00E9;al.,Department of Electrical Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015005802"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":3.6608,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.95365887,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2431","last_page":"2437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983999729156494,"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":0.9972000122070312,"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/robot","display_name":"Robot","score":0.8653097152709961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6414916515350342},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6259757280349731},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.625847339630127},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.6106457710266113},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6079645752906799},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.522529125213623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5086170434951782},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4560217559337616},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.45350953936576843},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44054001569747925},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16779863834381104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16548070311546326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16459724307060242}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8653097152709961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6414916515350342},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6259757280349731},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.625847339630127},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.6106457710266113},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6079645752906799},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.522529125213623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5086170434951782},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4560217559337616},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.45350953936576843},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44054001569747925},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16779863834381104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16548070311546326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16459724307060242},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981301","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.polymtl.ca:52504","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/52504/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Communication de conf\u00e9rence"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1542648184","https://openalex.org/W2119135776","https://openalex.org/W2145654359","https://openalex.org/W2561679008","https://openalex.org/W2745007981","https://openalex.org/W2926397355","https://openalex.org/W2954300802","https://openalex.org/W2963610759","https://openalex.org/W2964103707","https://openalex.org/W2964250998","https://openalex.org/W2995105004","https://openalex.org/W3000557965","https://openalex.org/W3012268014","https://openalex.org/W3022312225","https://openalex.org/W3048539090","https://openalex.org/W3089723250","https://openalex.org/W3136955234","https://openalex.org/W3137193604","https://openalex.org/W3143702084","https://openalex.org/W3153511708","https://openalex.org/W3163951850","https://openalex.org/W3207932997","https://openalex.org/W4205293427","https://openalex.org/W4287614616","https://openalex.org/W4289145348","https://openalex.org/W4289541802","https://openalex.org/W4362641369","https://openalex.org/W6754399168"],"related_works":["https://openalex.org/W2032233321","https://openalex.org/W3121970507","https://openalex.org/W2110028391","https://openalex.org/W54497855","https://openalex.org/W217960748","https://openalex.org/W3125814499","https://openalex.org/W2090827041","https://openalex.org/W2094012830","https://openalex.org/W187246281","https://openalex.org/W2079194830"],"abstract_inverted_index":{"In":[0,24],"multi-robot":[1,65],"missions,":[2],"relative":[3,31,56],"position":[4],"and":[5,21,84],"attitude":[6],"information":[7],"between":[8],"robots":[9],"is":[10,40,44,50,80],"valuable":[11],"for":[12],"a":[13,34,101],"variety":[14],"of":[15,29,36,76,100,103],"tasks":[16],"such":[17],"as":[18],"mapping,":[19],"planning,":[20],"formation":[22,98],"control.":[23],"this":[25],"paper,":[26],"the":[27,47,54,61,69,97],"problem":[28],"estimating":[30],"poses":[32,57],"from":[33],"set":[35],"inter-robot":[37],"range":[38],"measurements":[39],"investigated.":[41],"Specifically,":[42],"it":[43,79],"shown":[45,81],"that":[46,67,86],"estimation":[48,71,90],"accuracy":[49,91],"highly":[51],"dependent":[52],"on":[53],"true":[55],"themselves,":[58],"which":[59],"prompts":[60],"desire":[62],"to":[63],"find":[64],"formations":[66],"provide":[68],"best":[70],"performance.":[72],"By":[73],"direct":[74],"maximization":[75],"Fischer":[77],"information,":[78],"in":[82,89],"simulation":[83],"experiment":[85],"large":[87],"improvements":[88],"can":[92],"be":[93],"obtained":[94],"by":[95],"optimizing":[96],"geometry":[99],"team":[102],"robots.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
