{"id":"https://openalex.org/W4389332139","doi":"https://doi.org/10.1109/jiot.2023.3339254","title":"NanoSLAM: Enabling Fully Onboard SLAM for Tiny Robots","display_name":"NanoSLAM: Enabling Fully Onboard SLAM for Tiny Robots","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4389332139","doi":"https://doi.org/10.1109/jiot.2023.3339254"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2023.3339254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2023.3339254","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ieeexplore.ieee.org/document/10343110","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034659525","display_name":"Vlad Niculescu","orcid":"https://orcid.org/0000-0003-4214-1410"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Vlad Niculescu","raw_affiliation_strings":["Integrated Systems Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Integrated Systems Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090142795","display_name":"Tommaso Polonelli","orcid":"https://orcid.org/0000-0003-0405-3612"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tommaso Polonelli","raw_affiliation_strings":["Center for Project-Based Learning, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066423975","display_name":"Michele Magno","orcid":"https://orcid.org/0000-0003-0368-8923"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michele Magno","raw_affiliation_strings":["Center for Project-Based Learning, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043408422","display_name":"Luca Benini","orcid":"https://orcid.org/0000-0001-8068-3806"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Benini","raw_affiliation_strings":["Integrated Systems Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","Department of Electrical, Electronic and Information Engineering of University of Bologna, Viale del Risorgimento 2, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"Integrated Systems Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering of University of Bologna, Viale del Risorgimento 2, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034659525"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.5765,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98191106,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"11","issue":"8","first_page":"13584","last_page":"13607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9947999715805054,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8036432862281799},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8013774156570435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7028709650039673},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6809588074684143},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.587454617023468},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5863669514656067},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4963751435279846},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48291441798210144},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.46274900436401367},{"id":"https://openalex.org/keywords/reduced-instruction-set-computing","display_name":"Reduced instruction set computing","score":0.45329517126083374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4158462882041931},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3127257525920868},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.29549646377563477},{"id":"https://openalex.org/keywords/instruction-set","display_name":"Instruction set","score":0.19141504168510437}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8036432862281799},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8013774156570435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7028709650039673},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6809588074684143},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.587454617023468},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5863669514656067},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4963751435279846},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48291441798210144},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.46274900436401367},{"id":"https://openalex.org/C126298526","wikidata":"https://www.wikidata.org/wiki/Q189376","display_name":"Reduced instruction set computing","level":3,"score":0.45329517126083374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4158462882041931},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3127257525920868},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.29549646377563477},{"id":"https://openalex.org/C202491316","wikidata":"https://www.wikidata.org/wiki/Q272683","display_name":"Instruction set","level":2,"score":0.19141504168510437},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/jiot.2023.3339254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2023.3339254","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},{"id":"pmh:oai:cris.unibo.it:11585/1004680","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/10343110","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:cris.unibo.it:11585/1004680","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/10343110","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1506342804","https://openalex.org/W1975847068","https://openalex.org/W2029780423","https://openalex.org/W2029895480","https://openalex.org/W2080823437","https://openalex.org/W2169677720","https://openalex.org/W2339009533","https://openalex.org/W2342101233","https://openalex.org/W2522546097","https://openalex.org/W2539871928","https://openalex.org/W2620780412","https://openalex.org/W2903506349","https://openalex.org/W2981304378","https://openalex.org/W2996376549","https://openalex.org/W3004359000","https://openalex.org/W3006499227","https://openalex.org/W3036784378","https://openalex.org/W3047691788","https://openalex.org/W3088384007","https://openalex.org/W3092239497","https://openalex.org/W3102009167","https://openalex.org/W3121328480","https://openalex.org/W3127605436","https://openalex.org/W3129040126","https://openalex.org/W3134896931","https://openalex.org/W3136926086","https://openalex.org/W3159759517","https://openalex.org/W3163071374","https://openalex.org/W3164242635","https://openalex.org/W3184384085","https://openalex.org/W3185199394","https://openalex.org/W3199972047","https://openalex.org/W3202150210","https://openalex.org/W3203242999","https://openalex.org/W3203771368","https://openalex.org/W3208313739","https://openalex.org/W3211582485","https://openalex.org/W3211635928","https://openalex.org/W4212931966","https://openalex.org/W4214939762","https://openalex.org/W4220836661","https://openalex.org/W4226424210","https://openalex.org/W4226446010","https://openalex.org/W4280577617","https://openalex.org/W4283719335","https://openalex.org/W4285506552","https://openalex.org/W4288047711","https://openalex.org/W4309725602","https://openalex.org/W4309822222","https://openalex.org/W4312670464","https://openalex.org/W4312713747","https://openalex.org/W4312735653","https://openalex.org/W4313855236","https://openalex.org/W4319302559","https://openalex.org/W4324325723","https://openalex.org/W4327662982","https://openalex.org/W4360584356","https://openalex.org/W4366502868","https://openalex.org/W4379115829","https://openalex.org/W4379115956","https://openalex.org/W4382935235","https://openalex.org/W4387385885","https://openalex.org/W6682324061"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2059768187","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451"],"abstract_inverted_index":{"Perceiving":[0],"and":[1,34,59,98,125,133,169],"mapping":[2,20,40,120,159],"the":[3,23,55,74,83,119,150,154],"surroundings":[4],"are":[5],"essential":[6],"for":[7,63],"autonomous":[8],"navigation":[9],"in":[10,27,122],"any":[11],"robotic":[12,45],"platform.":[13],"The":[14,145],"algorithm":[15],"class":[16],"that":[17,47],"enables":[18,158],"accurate":[19],"while":[21],"correcting":[22],"odometry":[24],"errors":[25],"present":[26],"most":[28],"robotics":[29],"systems":[30],"is":[31,41],"Simultaneous":[32],"Localization":[33],"Mapping":[35],"(SLAM).":[36],"Today,":[37],"fully":[38],"onboard":[39],"only":[42,115],"achievable":[43],"on":[44,89,107,128],"platforms":[46],"can":[48],"host":[49],"high-wattage":[50],"processors,":[51,91],"mainly":[52],"due":[53],"to":[54,78,105,148],"significant":[56],"computational":[57],"load":[58],"memory":[60],"demands":[61],"required":[62],"executing":[64],"SLAM":[65,77,87,101],"algorithms.":[66],"For":[67],"this":[68,92],"reason,":[69],"pocket-size":[70],"hardware-constrained":[71],"robots":[72,109],"offload":[73],"execution":[75,172],"of":[76,85,114,153,160,167,174],"external":[79],"infrastructures.":[80],"To":[81],"address":[82],"challenge":[84],"enabling":[86],"algorithms":[88],"resource-constrained":[90],"paper":[93],"proposes":[94],"NanoSLAM,":[95],"a":[96,111,129,136,161],"lightweight":[97],"optimized":[99],"end-to-end":[100,171],"approach":[102],"specifically":[103],"designed":[104,147],"operate":[106],"centimeter-size":[108],"at":[110],"power":[112],"budget":[113],"87.9mW.":[116],"We":[117],"demonstrate":[118],"capabilities":[121,152],"real-world":[123],"scenarios":[124],"deploy":[126],"NanoSLAM":[127],"nano-drone":[130],"weighing":[131],"44g":[132],"equipped":[134],"with":[135,164],"novel":[137],"commercial":[138],"RISC-V":[139,155],"low-power":[140],"parallel":[141,151],"processor":[142],"called":[143],"GAP9.":[144],"algorithm,":[146],"leverage":[149],"processing":[156],"cores,":[157],"general":[162],"environment":[163],"an":[165,170],"accuracy":[166],"4.5cm":[168],"time":[173],"less":[175],"than":[176],"250ms.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12}],"updated_date":"2026-02-26T08:16:20.718346","created_date":"2025-10-10T00:00:00"}
