{"id":"https://openalex.org/W2016499131","doi":"https://doi.org/10.1109/nabic.2009.5393654","title":"Localization using Average Landmark Vector in the presence of clutter","display_name":"Localization using Average Landmark Vector in the presence of clutter","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2016499131","doi":"https://doi.org/10.1109/nabic.2009.5393654","mag":"2016499131"},"language":"en","primary_location":{"id":"doi:10.1109/nabic.2009.5393654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/nabic.2009.5393654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 World Congress on Nature & Biologically Inspired Computing (NaBIC)","raw_type":"proceedings-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/A5006038667","display_name":"Pratik Chaudhari","orcid":"https://orcid.org/0000-0003-4590-1956"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Pratik Chaudhari","raw_affiliation_strings":["Department of AeroSpace Engineering, Indian Institute of Technology Bombay, Mumbai, India","Department of Aerospace Engineering, Indian Institute of Technology Bombay, Mumbai - 76, India"],"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, Indian Institute of Technology Bombay, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Indian Institute of Technology Bombay, Mumbai - 76, India","institution_ids":["https://openalex.org/I162827531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006038667"],"corresponding_institution_ids":["https://openalex.org/I162827531"],"apc_list":null,"apc_paid":null,"fwci":9.0499,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.97883044,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1592","last_page":"1595"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"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":0.9965999722480774,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9952999949455261,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.8755667209625244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7519828677177429},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6444045305252075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6415072679519653},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6081178188323975},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5851786732673645},{"id":"https://openalex.org/keywords/histogram","display_name":"Histogram","score":0.516781210899353},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.5119668245315552},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4816835820674896},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4707779586315155},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42192256450653076},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42098334431648254},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.41002708673477173},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36795759201049805},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15476173162460327},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.13494747877120972},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.1342982053756714}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8755667209625244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7519828677177429},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6444045305252075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6415072679519653},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6081178188323975},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5851786732673645},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.516781210899353},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.5119668245315552},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4816835820674896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4707779586315155},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42192256450653076},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42098334431648254},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.41002708673477173},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36795759201049805},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15476173162460327},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.13494747877120972},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.1342982053756714},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/nabic.2009.5393654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/nabic.2009.5393654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 World Congress on Nature & Biologically Inspired Computing (NaBIC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dsapce.library.iitb.ac.in:100/2482","is_oa":false,"landing_page_url":"http://dspace.library.iitb.ac.in/xmlui/handle/10054/15814","pdf_url":null,"source":{"id":"https://openalex.org/S4306400899","display_name":"DSpace (IIT Bombay)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162827531","host_organization_name":"Indian Institute of Technology Bombay","host_organization_lineage":["https://openalex.org/I162827531"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"World Congress on Nature and Biologically Inspired Computing,Coimbatore, INDIA,DEC 09-12, 2009","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1483642803","https://openalex.org/W1562619934","https://openalex.org/W1764250255","https://openalex.org/W1888189279","https://openalex.org/W2068113013","https://openalex.org/W2076018106","https://openalex.org/W2106990484","https://openalex.org/W2117364466","https://openalex.org/W2119860009","https://openalex.org/W2125409550","https://openalex.org/W2143864104","https://openalex.org/W2174370623","https://openalex.org/W2336416123","https://openalex.org/W6629129224","https://openalex.org/W6637824356"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2026924879","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W1968481813","https://openalex.org/W2620829895","https://openalex.org/W2356918560"],"abstract_inverted_index":{"Topological":[0],"maps":[1,28,110],"are":[2,29],"used":[3,36],"by":[4,54,67],"biological":[5],"species":[6],"for":[7,60,111],"navigation":[8,143],"in":[9,91,117,144],"complex":[10],"and":[11,19,75,100,107],"cluttered":[12,146],"environments":[13],"with":[14,82,95],"very":[15],"primitive":[16],"sensory":[17],"inputs":[18],"limited":[20],"computational":[21],"abilities.":[22],"The":[23],"core":[24],"aspect":[25],"of":[26,41,105,119,142],"topological":[27,109],"the":[30,39,42,73,77,103,132,140,157,164],"properties":[31],"(usually":[32],"some":[33],"environmental":[34,93],"features)":[35],"to":[37,139,161],"define":[38],"nodes":[40],"map.":[43],"In":[44],"this":[45],"paper":[46],"we":[47,149],"use":[48],"a":[49,69,88,120,145,151],"well":[50,152],"known":[51,153],"technique":[52,65,154],"adopted":[53],"desert":[55],"ants":[56],"called":[57],"visual":[58],"piloting":[59],"autonomous":[61],"robot":[62,112,133],"navigation.":[63,113],"This":[64,86],"works":[66],"extracting":[68],"useful":[70],"feature":[71],"from":[72,98,128,155],"environment":[74],"calculating":[76],"Average":[78],"Landmark":[79],"Vector":[80,158],"(ALV)":[81],"all":[83],"such":[84],"features.":[85],"is":[87],"first":[89],"step":[90],"using":[92,108,163],"features":[94],"ideas":[96],"inspired":[97],"ants/bees,":[99],"will":[101],"form":[102],"basis":[104],"building":[106],"We":[114,124,135],"present":[115,126],"ALV":[116],"terms":[118],"gradient":[121],"descent":[122],"mechanism.":[123],"also":[125],"results":[127,138],"an":[129],"implementation":[130],"on":[131],"platform.":[134],"extend":[136,150],"current":[137],"case":[141],"environment.":[147],"Furthermore":[148],"robotics,":[156],"Field":[159],"Histogram,":[160],"navigate":[162],"ALV.":[165]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}