{"id":"https://openalex.org/W2130913243","doi":"https://doi.org/10.1109/ramech.2004.1438025","title":"Path planning for bearing-only simultaneous localisation and mapping","display_name":"Path planning for bearing-only simultaneous localisation and mapping","publication_year":2005,"publication_date":"2005-06-15","ids":{"openalex":"https://openalex.org/W2130913243","doi":"https://doi.org/10.1109/ramech.2004.1438025","mag":"2130913243"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2004.1438025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2004.1438025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","raw_type":"proceedings-article"},"type":"conference-paper","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/A5019424682","display_name":"N. M. Kwok","orcid":"https://orcid.org/0000-0002-5430-6860"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"N.M. Kwok","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035571131","display_name":"Dikai Liu","orcid":"https://orcid.org/0000-0002-1581-5582"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"D.K. Liu","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068677405","display_name":"Gu Fang","orcid":"https://orcid.org/0000-0003-3723-1665"},"institutions":[{"id":"https://openalex.org/I63525965","display_name":"Western Sydney University","ror":"https://ror.org/03t52dk35","country_code":"AU","type":"education","lineage":["https://openalex.org/I63525965"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gu Fang","raw_affiliation_strings":["School of Engineering, University of Western Ontario, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Western Ontario, NSW, Australia","institution_ids":["https://openalex.org/I63525965"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"G. Dissanayake","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"828","last_page":"833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7932961583137512},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6745920777320862},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6602264642715454},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.6595045328140259},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.655177891254425},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6464726328849792},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6175117492675781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5632639527320862},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5546876788139343},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5541936159133911},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4917040467262268},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.48889318108558655},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48573166131973267},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4260146915912628},{"id":"https://openalex.org/keywords/pareto-principle","display_name":"Pareto principle","score":0.41444841027259827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24524632096290588},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.200517475605011},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.14733582735061646},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07621321082115173}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7932961583137512},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6745920777320862},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6602264642715454},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.6595045328140259},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.655177891254425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6464726328849792},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6175117492675781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5632639527320862},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5546876788139343},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5541936159133911},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4917040467262268},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.48889318108558655},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48573166131973267},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4260146915912628},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.41444841027259827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24524632096290588},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.200517475605011},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.14733582735061646},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07621321082115173},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ramech.2004.1438025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2004.1438025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/2885","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/2885","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6499999761581421,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1532789453","https://openalex.org/W1586173270","https://openalex.org/W2069937360","https://openalex.org/W2107667896","https://openalex.org/W2109594822","https://openalex.org/W2110453924","https://openalex.org/W2133054594","https://openalex.org/W2135497071","https://openalex.org/W2139972052","https://openalex.org/W2155019998","https://openalex.org/W2167618168","https://openalex.org/W2168263579","https://openalex.org/W3023540311","https://openalex.org/W4213121121","https://openalex.org/W6634982934","https://openalex.org/W6685155905"],"related_works":["https://openalex.org/W1750372561","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2170661558","https://openalex.org/W2106517143","https://openalex.org/W2001146265"],"abstract_inverted_index":{"Simultaneous":[0],"localisation":[1],"and":[2,16,56,75,95,163],"mapping":[3],"(SLAM)":[4],"is":[5,26,124,153],"the":[6,10,17,39,45,50,53,57,60,62,68,76,82,89,93,96,99,102,113,118,160,165],"process":[7],"of":[8,12,19,41,52,59,70,78,101,110,140,145,167],"estimating":[9],"pose":[11],"a":[13,106,131,138,150],"mobile":[14],"robot":[15,94,103,114,134],"locations":[18],"landmarks":[20],"by":[21,81,169],"using":[22],"sensors.":[23],"When":[24],"SLAM":[25,119,168],"cast":[27],"as":[28,38],"an":[29],"information":[30,71,79],"extraction":[31,80],"procedure,":[32],"its":[33],"quality":[34,166],"can":[35,115],"be":[36,156],"defined":[37],"amount":[40,69],"uncertainty":[42,64,162],"contained":[43],"in":[44,126,158],"resultant":[46],"estimation.":[47],"Due":[48],"to":[49,129,137,155],"characteristic":[51],"bearing-only":[54],"sensor":[55],"geometry":[58],"environment,":[61],"estimation":[63,161],"relies":[65],"critically":[66],"on":[67,88],"obtained":[72],"from":[73],"measurements":[74],"efficiency":[77],"estimator.":[83],"These":[84],"quantities":[85],"are":[86],"dependent":[87],"relative":[90],"position":[91],"between":[92],"landmarks,":[97],"i.e.,":[98],"path":[100,109,135],"motion.":[104],"Therefore,":[105],"well":[107],"planned":[108],"motion":[111],"for":[112],"significantly":[116],"improve":[117],"quality.":[120],"A":[121],"genetic":[122,146],"algorithm":[123,147],"adopted":[125],"this":[127],"research":[128],"design":[130],"near-optimal":[132],"one-step-ahead":[133],"subject":[136],"multiple":[139],"planning":[141],"objectives.":[142],"The":[143],"use":[144],"together":[148],"with":[149],"Pareto":[151],"set,":[152],"proved":[154],"efficient":[157],"reducing":[159],"improving":[164],"simulation":[170],"results.":[171]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
