{"id":"https://openalex.org/W3046121162","doi":"https://doi.org/10.1109/iwcmc48107.2020.9148351","title":"Towards Robust Onboard Control for Quadrotors via Ultra-Wideband-based Localization","display_name":"Towards Robust Onboard Control for Quadrotors via Ultra-Wideband-based Localization","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3046121162","doi":"https://doi.org/10.1109/iwcmc48107.2020.9148351","mag":"3046121162"},"language":"en","primary_location":{"id":"doi:10.1109/iwcmc48107.2020.9148351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iwcmc48107.2020.9148351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Wireless Communications and Mobile Computing (IWCMC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.aalto.fi/en/publications/82b42ff9-8f54-4d74-9e13-f058b62fa720","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028448540","display_name":"Evagoras Makridis","orcid":"https://orcid.org/0000-0001-8615-784X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Evagoras Makridis","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000676115","display_name":"Themistoklis Charalambous","orcid":"https://orcid.org/0000-0003-4800-6738"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Themistoklis Charalambous","raw_affiliation_strings":["School of Electrical Engineering, Aalto University"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028448540"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.7284,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.70646905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1630","last_page":"1635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991000294685364,"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/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/kalman-filter","display_name":"Kalman filter","score":0.7434278726577759},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7052290439605713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6448072195053101},{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.5687910318374634},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5209909081459045},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.47018754482269287},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4562261700630188},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4293901324272156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2788175344467163},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.25428175926208496},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14452236890792847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10131987929344177},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0996457040309906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07177090644836426}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7434278726577759},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7052290439605713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6448072195053101},{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.5687910318374634},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5209909081459045},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.47018754482269287},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4562261700630188},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4293901324272156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2788175344467163},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.25428175926208496},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14452236890792847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10131987929344177},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0996457040309906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07177090644836426},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iwcmc48107.2020.9148351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iwcmc48107.2020.9148351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Wireless Communications and Mobile Computing (IWCMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/46437","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/82b42ff9-8f54-4d74-9e13-f058b62fa720","pdf_url":null,"source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/46437","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/82b42ff9-8f54-4d74-9e13-f058b62fa720","pdf_url":null,"source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W73514906","https://openalex.org/W1576721254","https://openalex.org/W1969064048","https://openalex.org/W2044462915","https://openalex.org/W2049750053","https://openalex.org/W2096282629","https://openalex.org/W2098536261","https://openalex.org/W2124838681","https://openalex.org/W2126321265","https://openalex.org/W2131200679","https://openalex.org/W2135160607","https://openalex.org/W2163198877","https://openalex.org/W2167631306","https://openalex.org/W2183794822","https://openalex.org/W2213241233","https://openalex.org/W2585306788","https://openalex.org/W2735641154","https://openalex.org/W2753433552","https://openalex.org/W2770939175","https://openalex.org/W2891010135","https://openalex.org/W2891378679","https://openalex.org/W2906848050","https://openalex.org/W2914616910","https://openalex.org/W2963134661","https://openalex.org/W4230624888","https://openalex.org/W6602973345","https://openalex.org/W6733408272"],"related_works":["https://openalex.org/W2172272784","https://openalex.org/W2003817535","https://openalex.org/W4307436769","https://openalex.org/W4387559098","https://openalex.org/W4367281123","https://openalex.org/W4387452254","https://openalex.org/W2103062922","https://openalex.org/W2770318696","https://openalex.org/W2162299404","https://openalex.org/W1976086917"],"abstract_inverted_index":{"This":[0,59],"paper":[1],"describes":[2],"an":[3],"indoor":[4],"navigation":[5],"approach":[6,60],"using":[7],"estimation":[8,118],"and":[9,15,39,112,119],"control":[10,120],"for":[11,18,82],"horizontal":[12],"translational":[13],"motion":[14],"heading":[16],"angle":[17],"quadrotor":[19,79],"Unmanned":[20],"Aerial":[21],"Vehicles":[22],"(UAVs)":[23],"via":[24,92,121],"Ultra-Wideband":[25],"(UWB)-based":[26],"localization.":[27,123],"In":[28],"particular,":[29],"to":[30,66],"cope":[31],"with":[32,51,77],"noisy":[33],"measurements,":[34],"emanating":[35],"from":[36],"model":[37],"uncertainties,":[38],"Non-Line-Of-Sight":[40],"(NLOS)":[41],"conditions,":[42],"a":[43,52,78],"Linear":[44],"Quadratic":[45],"Regulator":[46],"(LQR)":[47],"is":[48],"deployed":[49],"along":[50],"Maximum":[53],"Correntropy":[54],"Criterion":[55],"Kalman":[56,69],"Filter":[57,70],"(MCC-KF).":[58],"has":[61],"proven":[62],"improved":[63],"robustness":[64],"compared":[65],"the":[67,84,93,97,100,105],"traditional":[68],"(KF)":[71],"against":[72],"non-Gaussian":[73],"noise.":[74],"A":[75],"testbed":[76],"was":[80],"developed":[81],"evaluating":[83],"performance":[85],"of":[86,102,107,109],"our":[87],"proposed":[88],"approach.":[89],"We":[90],"demonstrate,":[91],"experimental":[94],"setup,":[95],"that":[96],"MCC-KF":[98],"outperforms":[99],"use":[101],"KF":[103],"in":[104],"presence":[106],"shots":[108],"mixed":[110],"noise":[111],"communication":[113],"delays,":[114],"enabling":[115],"onboard":[116],"robust":[117],"UWB-based":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
