{"id":"https://openalex.org/W4407316195","doi":"https://doi.org/10.1109/lra.2025.3540383","title":"Flow-Based Localization and Mapping for Multi-Robot Systems","display_name":"Flow-Based Localization and Mapping for Multi-Robot Systems","publication_year":2025,"publication_date":"2025-02-10","ids":{"openalex":"https://openalex.org/W4407316195","doi":"https://doi.org/10.1109/lra.2025.3540383"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3540383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3540383","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":null,"display_name":"Arjun Kumar","orcid":"https://orcid.org/0009-0006-9585-7761"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arjun Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0009-0006-9585-7761","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029522612","display_name":"Thales C. Silva","orcid":"https://orcid.org/0000-0002-2407-2143"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thales C. Silva","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2407-2143","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Victoria Edwards","orcid":"https://orcid.org/0000-0001-8065-4239"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Victoria Edwards","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8065-4239","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042002060","display_name":"M. Ani Hsieh","orcid":"https://orcid.org/0000-0003-2186-9074"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Ani Hsieh","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2186-9074","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02958183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"4","first_page":"3278","last_page":"3285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9696000218391418,"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":0.9696000218391418,"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/T12288","display_name":"Optimization and Search Problems","score":0.9447000026702881,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9437000155448914,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.5604894757270813},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.5265969038009644},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49200698733329773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3722783029079437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34424644708633423},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12003296613693237},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05671149492263794}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5604894757270813},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.5265969038009644},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49200698733329773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3722783029079437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34424644708633423},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12003296613693237},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05671149492263794}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3540383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3540383","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":[],"awards":[{"id":"https://openalex.org/G2334704718","display_name":null,"funder_award_id":"N00014-22-1-2157","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1560939988","https://openalex.org/W1612997784","https://openalex.org/W2045647762","https://openalex.org/W2083327122","https://openalex.org/W2114652533","https://openalex.org/W2148301780","https://openalex.org/W2239232218","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2399045026","https://openalex.org/W2416852083","https://openalex.org/W2482726005","https://openalex.org/W2512451142","https://openalex.org/W2565233142","https://openalex.org/W2746349752","https://openalex.org/W2771926486","https://openalex.org/W2801907389","https://openalex.org/W2998553944","https://openalex.org/W3000920959","https://openalex.org/W3123681199","https://openalex.org/W3130257562","https://openalex.org/W3137906092","https://openalex.org/W3157481245","https://openalex.org/W3200568502","https://openalex.org/W3205103819","https://openalex.org/W3215447930","https://openalex.org/W3215914122","https://openalex.org/W4200126412","https://openalex.org/W4214768561","https://openalex.org/W4225353301","https://openalex.org/W4286249767","https://openalex.org/W4312993878","https://openalex.org/W4313830349","https://openalex.org/W4382300288","https://openalex.org/W4387682177","https://openalex.org/W4391058713","https://openalex.org/W6685664056","https://openalex.org/W6769255899","https://openalex.org/W6810879400","https://openalex.org/W6838359570","https://openalex.org/W6847313964"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"letter":[1],"addresses":[2],"the":[3,104,128,131,139],"problem":[4],"of":[5,60,73,97,121,141],"Multi-Robot":[6],"Simultaneous":[7],"Localization":[8],"and":[9,41,47,58,134],"Mapping":[10],"(SLAM)":[11],"in":[12,29,35],"dynamic":[13,61],"feature-free":[14],"marine":[15,30],"environments.":[16],"Traditional":[17],"SLAM":[18],"approaches":[19],"rely":[20],"on":[21,118],"static":[22],"environmental":[23,62],"features,":[24],"which":[25],"are":[26],"often":[27],"scarce":[28],"environments,":[31],"hindering":[32],"their":[33],"applicability":[34],"aquatic":[36],"environments":[37],"like":[38,70],"rivers,":[39],"lakes,":[40],"oceans.":[42],"We":[43,114],"propose":[44],"a":[45,119],"localization":[46],"mapping":[48],"formulation":[49],"that":[50],"jointly":[51],"optimizes":[52],"robot":[53,56],"odometry,":[54],"relative":[55],"bearings,":[57],"estimates":[59],"flow":[63,88,105,125],"parameters":[64],"using":[65],"state-of-the-art":[66],"parameter":[67],"estimation":[68,96],"techniques":[69],"Sparse":[71],"Identification":[72],"Nonlinear":[74],"Dynamics":[75],"(SINDy)":[76],"(Brunton":[77],"et":[78,107,111],"al.,":[79,108,112],"2016).":[80],"Our":[81],"approach":[82],"not":[83],"only":[84],"provides":[85],"an":[86],"accurate":[87],"field":[89],"map":[90],"but":[91],"it":[92],"also":[93],"enhances":[94],"pose":[95],"multiple":[98],"minimally":[99],"actuated":[100],"robots":[101],"transported":[102],"by":[103],"(Subbaraya":[106],"2016),":[109],"(Molchanov":[110],"2015).":[113],"showcase":[115],"our":[116],"methodology":[117],"series":[120],"increasingly":[122],"dynamically":[123],"complex":[124],"fields":[126],"including":[127],"Duffing":[129],"oscillator,":[130],"wind-driven":[132],"double-gyre,":[133],"real":[135],"ocean":[136],"data":[137],"from":[138],"Gulf":[140],"Mexico.":[142]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}