{"id":"https://openalex.org/W4226546905","doi":"https://doi.org/10.1109/iros47612.2022.9981414","title":"Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems","display_name":"Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4226546905","doi":"https://doi.org/10.1109/iros47612.2022.9981414"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981414","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/A5001168810","display_name":"Ofer Dagan","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ofer Dagan","raw_affiliation_strings":["University of Colorado Boulder,Smead Aerospace Engineering Sciences Department,Boulder,CO,USA,80309"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Smead Aerospace Engineering Sciences Department,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":null,"display_name":"Nisar R. Ahmed","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nisar R. Ahmed","raw_affiliation_strings":["University of Colorado Boulder,Smead Aerospace Engineering Sciences Department,Boulder,CO,USA,80309"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Smead Aerospace Engineering Sciences Department,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001168810"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50292398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5840","last_page":"5847"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13497","display_name":"Hermeneutics and Narrative Identity","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1211","display_name":"Philosophy"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T13497","display_name":"Hermeneutics and Narrative Identity","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1211","display_name":"Philosophy"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13695","display_name":"Aging, Elder Care, and Social Issues","score":0.9749000072479248,"subfield":{"id":"https://openalex.org/subfields/3600","display_name":"General Health Professions"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T13099","display_name":"Health, Medicine and Society","score":0.95660001039505,"subfield":{"id":"https://openalex.org/subfields/3600","display_name":"General Health Professions"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6987218856811523},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6804744005203247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6655714511871338},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.5795688629150391},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5403962135314941},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48320066928863525},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.468310683965683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4669445753097534},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.4179947078227997},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3675411343574524},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.30274587869644165},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28898024559020996},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.24736332893371582}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6987218856811523},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6804744005203247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6655714511871338},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5795688629150391},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5403962135314941},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48320066928863525},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.468310683965683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4669445753097534},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.4179947078227997},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3675411343574524},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.30274587869644165},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28898024559020996},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.24736332893371582},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"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/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/iros47612.2022.9981414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981414","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1519105959","https://openalex.org/W1538259731","https://openalex.org/W1983389310","https://openalex.org/W2030935194","https://openalex.org/W2063996629","https://openalex.org/W2072569846","https://openalex.org/W2148234182","https://openalex.org/W2154319942","https://openalex.org/W2164035059","https://openalex.org/W2212547592","https://openalex.org/W2410440994","https://openalex.org/W2906636743","https://openalex.org/W2963430160","https://openalex.org/W2963441901","https://openalex.org/W2967129110","https://openalex.org/W2981291050","https://openalex.org/W3011447944","https://openalex.org/W3096152500","https://openalex.org/W3118408399","https://openalex.org/W3174826526","https://openalex.org/W6604239174","https://openalex.org/W6607364932","https://openalex.org/W6634626308","https://openalex.org/W6660531384","https://openalex.org/W6680073339"],"related_works":["https://openalex.org/W12994518","https://openalex.org/W9299320","https://openalex.org/W8637620","https://openalex.org/W17859443","https://openalex.org/W5968626","https://openalex.org/W9737354","https://openalex.org/W5951450","https://openalex.org/W17569760","https://openalex.org/W10470088","https://openalex.org/W1852664"],"abstract_inverted_index":{"This":[0,115],"paper":[1,75],"presents":[2],"a":[3,23,85,96,135,166],"method":[4],"for":[5,100],"Bayesian":[6],"multi-robot":[7,158,167],"peer-to-peer":[8],"data":[9,102],"fusion":[10,103,113],"where":[11],"any":[12],"pair":[13],"of":[14,22,49,88,91,144],"autonomous":[15],"robots":[16],"hold":[17],"non-identical,":[18],"but":[19],"overlapping":[20],"parts":[21,143],"global":[24],"joint":[25],"probability":[26],"distribution,":[27],"representing":[28],"real":[29],"world":[30],"inference":[31,127],"tasks":[32],"(e.g.,":[33],"mapping,":[34],"tracking).":[35],"It":[36],"is":[37],"shown":[38],"that":[39,107,172],"in":[40,53,104,131],"dynamic":[41,105],"stochastic":[42],"systems,":[43],"filtering,":[44],"which":[45,66],"corresponds":[46],"to":[47,69,148,156],"marginalization":[48],"past":[50],"variables,":[51],"results":[52],"direct":[54],"and":[55,79,94,125,139,161],"hidden":[56],"dependencies":[57,93],"between":[58],"variables":[59],"not":[60],"mutually":[61],"monitored":[62],"by":[63,82],"the":[64,89,92,122,126,132,154,163,173],"robots,":[65],"might":[67],"lead":[68],"an":[70],"overconfident":[71],"fused":[72],"estimate.":[73],"The":[74],"makes":[76],"both":[77,121],"theoretical":[78],"practical":[80],"contributions":[81],"providing":[83],"(i)":[84],"rigorous":[86],"analysis":[87,123],"origin":[90],"(ii)":[95],"conservative":[97,177],"filtering":[98],"algorithm":[99,175],"heterogeneous":[101],"systems":[106],"can":[108],"be":[109],"integrated":[110],"with":[111],"existing":[112],"algorithms.":[114],"work":[116],"uses":[117],"factor":[118,137],"graphs":[119],"as":[120],"tool":[124],"engine.":[128],"Each":[129],"robot":[130],"network":[133],"maintains":[134],"local":[136],"graph":[138],"communicates":[140],"only":[141],"relevant":[142],"it":[145],"(a":[146],"sub-graph)":[147],"its":[149],"neighboring":[150],"robot.":[151,181],"We":[152],"discuss":[153],"applicability":[155],"various":[157],"robotic":[159],"applications":[160],"demonstrate":[162],"performance":[164],"using":[165],"multi-target":[168],"tracking":[169],"simulation,":[170],"showing":[171],"proposed":[174],"produces":[176],"estimates":[178],"at":[179],"each":[180]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2022-05-05T00:00:00"}