{"id":"https://openalex.org/W4312700632","doi":"https://doi.org/10.1109/iros47612.2022.9981718","title":"Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements","display_name":"Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312700632","doi":"https://doi.org/10.1109/iros47612.2022.9981718"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981718","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/A5084238291","display_name":"Justin Cano","orcid":"https://orcid.org/0000-0002-8426-2256"},"institutions":[{"id":"https://openalex.org/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Justin Cano","raw_affiliation_strings":["Polytechnique Montr&#x00E9;al and with GERAD,Department of Electrical Engineering,Montr&#x00E9;al,QC,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytechnique Montr&#x00E9;al and with GERAD,Department of Electrical Engineering,Montr&#x00E9;al,QC,Canada","institution_ids":["https://openalex.org/I4210133247","https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005718207","display_name":"Ga\u00ebl Pag\u00e8s","orcid":"https://orcid.org/0000-0001-8831-0684"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ga\u00ebl Pages","raw_affiliation_strings":["DEOS, ISAE-Supa&#x00E9;ro,Toulouse,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEOS, ISAE-Supa&#x00E9;ro,Toulouse,France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051195246","display_name":"\u00c9ric Chaumette","orcid":"https://orcid.org/0000-0002-7029-3019"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eric Chaumette","raw_affiliation_strings":["DEOS, ISAE-Supa&#x00E9;ro,Toulouse,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEOS, ISAE-Supa&#x00E9;ro,Toulouse,France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"last","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/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jerome Le Ny","raw_affiliation_strings":["Polytechnique Montr&#x00E9;al and with GERAD,Department of Electrical Engineering,Montr&#x00E9;al,QC,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytechnique Montr&#x00E9;al and with GERAD,Department of Electrical Engineering,Montr&#x00E9;al,QC,Canada","institution_ids":["https://openalex.org/I4210133247","https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084238291"],"corresponding_institution_ids":["https://openalex.org/I4210133247","https://openalex.org/I45683168"],"apc_list":null,"apc_paid":null,"fwci":0.9579,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72206444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"947","last_page":"953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.732393741607666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6591795682907104},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6412152647972107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6390337347984314},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5894131064414978},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5037316679954529},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4715956151485443},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40883904695510864},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37537527084350586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.339480459690094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18282297253608704},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11940240859985352}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.732393741607666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6591795682907104},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6412152647972107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6390337347984314},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5894131064414978},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5037316679954529},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4715956151485443},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40883904695510864},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37537527084350586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.339480459690094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18282297253608704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11940240859985352},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros47612.2022.9981718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981718","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:HAL:hal-04979251v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04979251","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, France. pp.947-953, &#x27E8;10.1109/IROS47612.2022.9981718&#x27E9;","raw_type":"Conference papers"},{"id":"pmh:oai:publications.polymtl.ca:51849","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/51849/","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":"Rapport"},{"id":"pmh:oai:publications.polymtl.ca:52441","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/52441/","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W90692444","https://openalex.org/W250076511","https://openalex.org/W1502739482","https://openalex.org/W1542648184","https://openalex.org/W1635192251","https://openalex.org/W1966244759","https://openalex.org/W1974676331","https://openalex.org/W1988543519","https://openalex.org/W2213241233","https://openalex.org/W2549315536","https://openalex.org/W2782948498","https://openalex.org/W2809555803","https://openalex.org/W2892582983","https://openalex.org/W2963610759","https://openalex.org/W3200293070","https://openalex.org/W3207932997","https://openalex.org/W4206596317","https://openalex.org/W4229917849","https://openalex.org/W4241368925","https://openalex.org/W4300031234","https://openalex.org/W6603623380","https://openalex.org/W6734797129"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W4246278799","https://openalex.org/W136674370","https://openalex.org/W2105527480","https://openalex.org/W4388726836","https://openalex.org/W2153809277","https://openalex.org/W2015961810"],"abstract_inverted_index":{"Position":[0],"estimation":[1],"in":[2,73,125,166],"Multi-Robot":[3],"Systems":[4],"(MRS)":[5],"relies":[6],"on":[7,90],"relative":[8],"angle":[9,105],"or":[10],"distance":[11],"measurements":[12,36,106,148],"between":[13],"the":[14,23,31,34,40,44,71,76,98,142,156,161,167],"robots,":[15],"which":[16],"generally":[17],"deteriorate":[18,108],"as":[19,129,131],"distances":[20],"increase.":[21],"Moreover,":[22],"localization":[24],"accuracy":[25],"is":[26,88],"strongly":[27],"influenced":[28],"both":[29],"by":[30,39],"quality":[32],"of":[33,43,78],"raw":[35],"but":[37],"also":[38],"overall":[41],"geometry":[42],"network.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49,140],"design":[50],"a":[51,114,126,132],"cost":[52,86],"function":[53,87],"that":[54,69,107,121],"accounts":[55],"for":[56,118,146],"these":[57],"two":[58],"issues":[59],"and":[60,104,154],"can":[61,122],"be":[62,123],"used":[63],"to":[64,81,135],"develop":[65],"motion":[66],"planning":[67],"algorithms":[68],"optimize":[70],"localizability":[72],"MRS,":[74],"i.e.,":[75],"ability":[77],"individual":[79],"robots":[80],"localize":[82],"themselves":[83],"accurately.":[84],"This":[85],"based":[89],"computing":[91],"new":[92],"Cram\u00e9r":[93],"Rao":[94],"Lower":[95],"Bounds":[96],"characterizing":[97],"achievable":[99],"positioning":[100],"performance":[101],"with":[102,109],"range":[103,147],"increasing":[110],"distances.":[111],"We":[112],"describe":[113],"gradient-based":[115],"motion-planning":[116],"algorithm":[117],"MRS":[119],"deployment":[120],"implemented":[124],"distributed":[127],"manner,":[128],"well":[130],"non-myopic":[133],"strategy":[134],"escape":[136],"local":[137],"minima.":[138],"Finally,":[139],"test":[141],"proposed":[143],"methodology":[144],"experimentally":[145],"obtained":[149],"using":[150],"ultra-wide":[151],"band":[152],"transceivers":[153],"illustrate":[155],"improvements":[157],"resulting":[158],"from":[159],"leveraging":[160],"more":[162],"accurate":[163],"measurement":[164],"model":[165],"robot":[168],"placement":[169],"algorithms.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
