{"id":"https://openalex.org/W4285268159","doi":"https://doi.org/10.1109/lra.2022.3184768","title":"Robust Slip-Aware Fusion for Mobile Robots State Estimation","display_name":"Robust Slip-Aware Fusion for Mobile Robots State Estimation","publication_year":2022,"publication_date":"2022-06-20","ids":{"openalex":"https://openalex.org/W4285268159","doi":"https://doi.org/10.1109/lra.2022.3184768"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3184768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184768","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-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/A5023201930","display_name":"Ehsan Hashemi","orcid":"https://orcid.org/0000-0002-6236-7516"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ehsan Hashemi","raw_affiliation_strings":["Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022886989","display_name":"Xingkang He","orcid":"https://orcid.org/0000-0002-5744-1371"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingkang He","raw_affiliation_strings":["Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045975901","display_name":"Karl Henrik Johansson","orcid":"https://orcid.org/0000-0001-9940-5929"},"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":false,"raw_author_name":"Karl H. Johansson","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023201930"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.6024,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6509739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7","issue":"3","first_page":"7896","last_page":"7903"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.6073718667030334},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.59477698802948},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.556611180305481},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5497756600379944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5070528984069824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4981100559234619},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4608137011528015},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4481998383998871},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.428592324256897},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.4104435443878174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4013710916042328},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33159157633781433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21904632449150085},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.12776553630828857},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10136759281158447},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.0839870274066925}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6073718667030334},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.59477698802948},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.556611180305481},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5497756600379944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5070528984069824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4981100559234619},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4608137011528015},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4481998383998871},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.428592324256897},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.4104435443878174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4013710916042328},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33159157633781433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21904632449150085},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.12776553630828857},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10136759281158447},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.0839870274066925},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3184768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184768","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G1412966968","display_name":null,"funder_award_id":"RGPIN-05097-2020","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1482795231","https://openalex.org/W1529133245","https://openalex.org/W1975867865","https://openalex.org/W2028583686","https://openalex.org/W2040088951","https://openalex.org/W2081242007","https://openalex.org/W2081332899","https://openalex.org/W2096108718","https://openalex.org/W2125108228","https://openalex.org/W2129927244","https://openalex.org/W2147600827","https://openalex.org/W2150745354","https://openalex.org/W2150876197","https://openalex.org/W2411093439","https://openalex.org/W2594817167","https://openalex.org/W2605954379","https://openalex.org/W2737927938","https://openalex.org/W2909908358","https://openalex.org/W2967488390","https://openalex.org/W2968206630","https://openalex.org/W3046199532","https://openalex.org/W3083030092","https://openalex.org/W3134348556","https://openalex.org/W4206678281","https://openalex.org/W4230515279"],"related_works":["https://openalex.org/W2543883930","https://openalex.org/W2034294006","https://openalex.org/W2152662039","https://openalex.org/W2785359964","https://openalex.org/W2382856674","https://openalex.org/W2041166599","https://openalex.org/W2151648638","https://openalex.org/W2980331260","https://openalex.org/W4285179988","https://openalex.org/W2030292111"],"abstract_inverted_index":{"A":[0,64],"novel":[1,138],"robust":[2,20,94],"and":[3,10,105,112],"slip-aware":[4],"speed":[5,101],"estimation":[6,49,102,124],"framework":[7,121],"is":[8,30,58,69],"developed":[9,120],"experimentally":[11],"verified":[12],"for":[13,27,92,126],"mobile":[14,127],"robot":[15],"navigation":[16,149],"by":[17,110],"designing":[18],"proprioceptive":[19,139],"observers":[21],"at":[22,86],"each":[23,28,87],"wheel.":[24],"The":[25,83,137],"observer":[26,140],"corner":[29],"proved":[31,59],"to":[32,60,71,96],"be":[33,61,143],"consistent,":[34],"in":[35,103],"the":[36,46,56,73,78,98,119],"sense":[37],"that":[38,77,129],"it":[39],"can":[40,141],"provide":[41],"an":[42],"upper":[43],"bound":[44],"of":[45,100],"mean":[47],"square":[48],"error":[50],"(MSE)":[51],"timely.":[52],"Under":[53],"proper":[54],"conditions,":[55,118],"MSE":[57],"uniformly":[62],"bounded.":[63],"covariance":[65],"intersection":[66],"fusion":[67],"method":[68],"used":[70,91],"fuse":[72],"wheel-level":[74],"estimates,":[75],"such":[76],"updated":[79],"estimate":[80],"remains":[81],"consistent.":[82],"estimated":[84],"slips":[85],"wheel":[88],"are":[89],"then":[90],"a":[93],"consensus":[95],"improve":[97],"reliability":[99],"harsh":[104],"combined-slip":[106],"scenarios.":[107],"As":[108],"confirmed":[109],"indoor":[111],"outdoor":[113],"experiments":[114],"under":[115],"different":[116],"surface":[117],"addresses":[122],"state":[123],"challenges":[125],"robots":[128],"experience":[130],"uneven":[131],"torque":[132],"distribution":[133],"or":[134],"large":[135],"slip.":[136],"also":[142],"integrated":[144],"with":[145],"existing":[146],"tightly-coupled":[147],"visual-inertial":[148],"systems.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
