{"id":"https://openalex.org/W4286541162","doi":"https://doi.org/10.1109/lra.2022.3192888","title":"3-D Inter-Robot Relative Localization via Semidefinite Optimization","display_name":"3-D Inter-Robot Relative Localization via Semidefinite Optimization","publication_year":2022,"publication_date":"2022-07-21","ids":{"openalex":"https://openalex.org/W4286541162","doi":"https://doi.org/10.1109/lra.2022.3192888"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3192888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3192888","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":true,"oa_status":"green","oa_url":"https://research.tue.nl/en/publications/589c4e45-19cb-436b-8e12-193e1b26d968","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103095998","display_name":"Ming Li","orcid":"https://orcid.org/0000-0002-9980-0678"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Ming Li","raw_affiliation_strings":["Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","Eindhoven Artificial Intelligence Systems Institute, Eindhoven, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Eindhoven Artificial Intelligence Systems Institute, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076185690","display_name":"Tin Lun Lam","orcid":"https://orcid.org/0000-0002-6363-1446"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tin Lun Lam","raw_affiliation_strings":["School of Science and Engineering, Chinese University of Hong Kong, Shenzhen, China","Shenzhen Institute of Artificial Intelligence and Robotics for Society, Chinese University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778346","display_name":"Zhiyong Sun","orcid":"https://orcid.org/0000-0002-4700-1479"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Zhiyong Sun","raw_affiliation_strings":["Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","Eindhoven Artificial Intelligence Systems Institute, Eindhoven, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Eindhoven Artificial Intelligence Systems Institute, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103095998"],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":6.9141,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96116234,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"10081","last_page":"10088"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/semidefinite-programming","display_name":"Semidefinite programming","score":0.9006049633026123},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.661104142665863},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6356929540634155},{"id":"https://openalex.org/keywords/quadratically-constrained-quadratic-program","display_name":"Quadratically constrained quadratic program","score":0.6172499656677246},{"id":"https://openalex.org/keywords/rank","display_name":"Rank (graph theory)","score":0.5804958343505859},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5755730867385864},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5633033514022827},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5180604457855225},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.47907906770706177},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4698590040206909},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.45848768949508667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4331074059009552},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3496721684932709},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09418955445289612}],"concepts":[{"id":"https://openalex.org/C101901036","wikidata":"https://www.wikidata.org/wiki/Q2269096","display_name":"Semidefinite programming","level":2,"score":0.9006049633026123},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.661104142665863},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6356929540634155},{"id":"https://openalex.org/C65148998","wikidata":"https://www.wikidata.org/wiki/Q7268373","display_name":"Quadratically constrained quadratic program","level":3,"score":0.6172499656677246},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.5804958343505859},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5755730867385864},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5633033514022827},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5180604457855225},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.47907906770706177},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4698590040206909},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.45848768949508667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4331074059009552},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3496721684932709},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09418955445289612},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2022.3192888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3192888","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"},{"id":"pmh:oai:pure.tue.nl:openaire/589c4e45-19cb-436b-8e12-193e1b26d968","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/589c4e45-19cb-436b-8e12-193e1b26d968","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Li, M, Lam, T L & Sun, Z 2022, '3-D Inter-Robot Relative Localization via Semidefinite Optimization', IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10081-10088. https://doi.org/10.1109/LRA.2022.3192888","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.tue.nl:publications/589c4e45-19cb-436b-8e12-193e1b26d968","is_oa":true,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85135208431&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Li, M, Lam, T L & Sun, Z 2022, '3-D Inter-Robot Relative Localization via Semidefinite Optimization', IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10081-10088. https://doi.org/10.1109/LRA.2022.3192888","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:tue:oai:pure.tue.nl:publications/589c4e45-19cb-436b-8e12-193e1b26d968","is_oa":true,"landing_page_url":"https://research.tue.nl/nl/publications/589c4e45-19cb-436b-8e12-193e1b26d968","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"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":"IEEE Robotics and Automation Letters, 7(4), 10081 - 10088. Institute of Electrical and Electronics Engineers","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire/589c4e45-19cb-436b-8e12-193e1b26d968","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/589c4e45-19cb-436b-8e12-193e1b26d968","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Li, M, Lam, T L & Sun, Z 2022, '3-D Inter-Robot Relative Localization via Semidefinite Optimization', IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10081-10088. https://doi.org/10.1109/LRA.2022.3192888","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1160427777","display_name":null,"funder_award_id":"62073274","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1498041548","https://openalex.org/W1542331646","https://openalex.org/W1996215314","https://openalex.org/W2018431869","https://openalex.org/W2019450466","https://openalex.org/W2028576930","https://openalex.org/W2103492872","https://openalex.org/W2105880662","https://openalex.org/W2110387645","https://openalex.org/W2125961820","https://openalex.org/W2160337655","https://openalex.org/W2168110171","https://openalex.org/W2342437324","https://openalex.org/W2954300802","https://openalex.org/W2969229350","https://openalex.org/W3001034080","https://openalex.org/W3012268014","https://openalex.org/W3089723250","https://openalex.org/W3130977229","https://openalex.org/W4293775970","https://openalex.org/W4362641369","https://openalex.org/W6632413684","https://openalex.org/W6772573096"],"related_works":["https://openalex.org/W2352839224","https://openalex.org/W2371590971","https://openalex.org/W1653317167","https://openalex.org/W2203098598","https://openalex.org/W4293088966","https://openalex.org/W2024017812","https://openalex.org/W2917463375","https://openalex.org/W2366868484","https://openalex.org/W2377851227","https://openalex.org/W2020990755"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"the":[3,18,39,42,46,52,65,70,93,97,102,110,115,118,133,136,145,162,167],"3-D":[4,66],"inter-robot":[5],"relative":[6,27,67,179],"localization":[7,28,68,180],"problem":[8,134],"is":[9,129],"addressed":[10],"using":[11],"noise-corrupted":[12],"odometric":[13],"and":[14,51,113,150,173],"distance":[15],"measurements.":[16],"Unlike":[17],"existing":[19,62,157],"solutions,":[20],"we":[21,100],"are":[22,56,175],"devoted":[23],"to":[24,91,131,144,156],"providing":[25],"a":[26,82,126,178],"method":[29,160],"that":[30,38,60,135],"has":[31,161],"an":[32,61,121],"\u201coverall":[33],"best":[34,163],"performance,\u201d":[35],"which":[36,108],"means":[37],"tradeoffs":[40],"between":[41],"estimation":[43],"accuracy":[44],"(EA),":[45],"number":[47],"of":[48,64,96,117],"measurements":[49],"(NoMs),":[50],"computation":[53],"efficiency":[54],"(CE)":[55],"considered.":[57],"We":[58],"demonstrate":[59],"formulation":[63],"problem,":[69,99],"square":[71,75],"distances":[72],"weighted":[73],"least":[74],"(SD-WLS),":[76],"can":[77],"be":[78,141],"equivalently":[79],"reformulated":[80],"as":[81],"non-convex":[83,94],"quadratic":[84,86,137],"constrained":[85],"programming":[87,104],"(QCQP)":[88],"problem.":[89],"Further,":[90],"handle":[92],"nature":[95],"QCQP":[98,119],"adopt":[101],"semidefinite":[103],"(SDP)":[105],"relaxation":[106],"approach,":[107],"drops":[109],"rank":[111],"constraint":[112],"recovers":[114],"solution":[116],"via":[120],"eigenvalue":[122],"decomposition":[123],"strategy.":[124],"Finally,":[125],"refinement":[127],"step":[128],"introduced":[130],"solve":[132],"constraints":[138],"might":[139],"not":[140],"satisfied":[142],"due":[143],"SDP":[146],"relaxation.":[147],"The":[148],"simulation":[149],"experiment":[151],"results":[152],"show":[153],"that,":[154],"compared":[155],"methods,":[158],"our":[159],"overall":[164],"performance":[165],"when":[166],"three":[168],"factors,":[169],"i.e.,":[170],"EA,":[171],"NoMs,":[172],"CE,":[174],"important":[176],"for":[177],"application.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}