{"id":"https://openalex.org/W4412939592","doi":"https://doi.org/10.1109/lra.2025.3595022","title":"Soft-Constrained Distributed Cascaded Cooperative Kalman Filter for Mobile Robots in Unknown Advection-Diffusion Field","display_name":"Soft-Constrained Distributed Cascaded Cooperative Kalman Filter for Mobile Robots in Unknown Advection-Diffusion Field","publication_year":2025,"publication_date":"2025-08-04","ids":{"openalex":"https://openalex.org/W4412939592","doi":"https://doi.org/10.1109/lra.2025.3595022"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3595022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3595022","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5007046380","display_name":"Scott Mayberry","orcid":"https://orcid.org/0000-0003-0822-4159"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Mayberry","raw_affiliation_strings":["George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0822-4159","affiliations":[{"raw_affiliation_string":"George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047956072","display_name":"Ziqiao Zhang","orcid":"https://orcid.org/0000-0002-5968-6444"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziqiao Zhang","raw_affiliation_strings":["Elmore Family School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-5968-6444","affiliations":[{"raw_affiliation_string":"Elmore Family School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073774664","display_name":"Wencen Wu","orcid":"https://orcid.org/0000-0002-9080-754X"},"institutions":[{"id":"https://openalex.org/I51504820","display_name":"San Jose State University","ror":"https://ror.org/04qyvz380","country_code":"US","type":"education","lineage":["https://openalex.org/I51504820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wencen Wu","raw_affiliation_strings":["Computer Engineering Department, San Jose State University, San Jose, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9080-754X","affiliations":[{"raw_affiliation_string":"Computer Engineering Department, San Jose State University, San Jose, CA, USA","institution_ids":["https://openalex.org/I51504820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068994727","display_name":"Fumin Zhang","orcid":"https://orcid.org/0000-0003-0053-4224"},"institutions":[{"id":"https://openalex.org/I146617529","display_name":"Applied Science and Technology Research Institute","ror":"https://ror.org/03xmkea05","country_code":"CN","type":"facility","lineage":["https://openalex.org/I146617529"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Fumin Zhang","raw_affiliation_strings":["Cheng Kar-Shun Robotics Institute, Hong Kong University of Science and Technology, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-0053-4224","affiliations":[{"raw_affiliation_string":"Cheng Kar-Shun Robotics Institute, Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6849,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73252833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"10","first_page":"9710","last_page":"9717"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9265000224113464,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9265000224113464,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.812321126461029},{"id":"https://openalex.org/keywords/advection","display_name":"Advection","score":0.6973665952682495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5740035176277161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5633101463317871},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.5373085737228394},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4862190783023834},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47584009170532227},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4704774022102356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3253970444202423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2007046639919281},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18070539832115173},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13035190105438232}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.812321126461029},{"id":"https://openalex.org/C5072599","wikidata":"https://www.wikidata.org/wiki/Q379788","display_name":"Advection","level":2,"score":0.6973665952682495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5740035176277161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5633101463317871},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.5373085737228394},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4862190783023834},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47584009170532227},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4704774022102356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3253970444202423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2007046639919281},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18070539832115173},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13035190105438232},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3595022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3595022","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:repository.hkust.edu.hk:1783.1-166230","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-166230","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3686253835","display_name":null,"funder_award_id":"N00014-19-1-2556","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1471017052","https://openalex.org/W1983124639","https://openalex.org/W2041248965","https://openalex.org/W2066180388","https://openalex.org/W2081622703","https://openalex.org/W2089108971","https://openalex.org/W2146775457","https://openalex.org/W2569137606","https://openalex.org/W2803570847","https://openalex.org/W2807483898","https://openalex.org/W2887618086","https://openalex.org/W2897829374","https://openalex.org/W2905036906","https://openalex.org/W2972394279","https://openalex.org/W3021198511","https://openalex.org/W3027999846","https://openalex.org/W3041086815","https://openalex.org/W3081470513","https://openalex.org/W3083448305","https://openalex.org/W3126030386","https://openalex.org/W3178796256","https://openalex.org/W4232655469","https://openalex.org/W4234388437","https://openalex.org/W4285256854","https://openalex.org/W4379794079","https://openalex.org/W4412939592","https://openalex.org/W6741155314","https://openalex.org/W6745991960","https://openalex.org/W6781321904","https://openalex.org/W6798636800","https://openalex.org/W6842954680","https://openalex.org/W6854303357"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W3036101264","https://openalex.org/W2163151373","https://openalex.org/W1986676657","https://openalex.org/W2389555968","https://openalex.org/W4411451922","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Real-time":[0],"estimation":[1,77,131],"and":[2,23,39,60,83,101,113,115,129],"modeling":[3],"of":[4,18,31,98],"dynamic":[5],"phenomena":[6],"governed":[7,65],"by":[8,43,66],"partial":[9],"differential":[10],"equations":[11],"play":[12],"a":[13,48,62],"key":[14],"role":[15],"in":[16,126],"applications":[17],"environmental":[19],"monitoring,":[20],"disaster":[21],"response,":[22],"industrial":[24],"control.":[25],"Accurately":[26],"capturing":[27],"the":[28,74,79,95,107,120],"spatiotemporal":[29,75],"dynamics":[30],"these":[32],"processes":[33],"is":[34,109],"essential":[35],"for":[36,55],"rapid":[37],"analysis":[38],"effective":[40],"management.":[41],"Motivated":[42],"this":[44],"need,":[45],"we":[46],"introduce":[47],"novel":[49],"distributed":[50],"cascaded":[51],"cooperative":[52],"Kalman":[53],"filter":[54,108],"mobile":[56],"robots":[57],"to":[58,88],"estimate":[59],"model":[61],"scalar":[63],"field":[64,76],"an":[67],"unknown":[68],"advection-diffusion":[69],"equation.":[70],"Our":[71],"approach":[72],"decouples":[73],"from":[78],"PDE":[80],"parameter":[81,130],"inference":[82],"incorporates":[84],"soft":[85],"physical":[86],"constraints":[87],"ensure":[89],"physically":[90],"meaningful":[91],"estimates":[92],"while":[93],"mitigating":[94],"adverse":[96],"effects":[97],"feedback":[99],"contamination":[100],"limited":[102],"observability.":[103],"We":[104],"prove":[105],"that":[106,119],"convergent,":[110],"fully":[111],"controllable":[112],"observable,":[114],"our":[116],"simulations":[117],"demonstrate":[118],"proposed":[121],"method":[122],"outperforms":[123],"baseline":[124],"techniques":[125],"both":[127],"state":[128],"across":[132],"diverse":[133],"network":[134],"configurations.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}