{"id":"https://openalex.org/W3198475489","doi":"https://doi.org/10.1109/rcar52367.2021.9517679","title":"A cooperative positioning approach of Unmanned Aerial Vehicles with Accuracy and Robustness","display_name":"A cooperative positioning approach of Unmanned Aerial Vehicles with Accuracy and Robustness","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3198475489","doi":"https://doi.org/10.1109/rcar52367.2021.9517679","mag":"3198475489"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5028264620","display_name":"Ziwei Zhou","orcid":"https://orcid.org/0000-0002-6970-0529"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziwei Zhou","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101926086","display_name":"Ziying Lin","orcid":"https://orcid.org/0009-0007-1071-9544"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziying Lin","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086015843","display_name":"Yi Ni","orcid":"https://orcid.org/0000-0002-5287-4258"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi Ni","raw_affiliation_strings":["Shanghai Electro-Mechanical Engineering Institute, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Electro-Mechanical Engineering Institute, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068198508","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0003-2640-1585"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Dong","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078125284","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0003-4914-6636"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Zhu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028264620"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0549521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"47","issue":null,"first_page":"399","last_page":"404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9980999827384949,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.9113223552703857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7227143049240112},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6170575022697449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5724629759788513},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5415357351303101},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.41371238231658936},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4001538157463074}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.9113223552703857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7227143049240112},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6170575022697449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5724629759788513},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5415357351303101},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.41371238231658936},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4001538157463074},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3157564020","display_name":null,"funder_award_id":"51975348,51605282","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":17,"referenced_works":["https://openalex.org/W1576163611","https://openalex.org/W1605997181","https://openalex.org/W1981934656","https://openalex.org/W1994349244","https://openalex.org/W2055429482","https://openalex.org/W2065429801","https://openalex.org/W2069209512","https://openalex.org/W2085101420","https://openalex.org/W2464890187","https://openalex.org/W2473706541","https://openalex.org/W2496641476","https://openalex.org/W2565945396","https://openalex.org/W2765393545","https://openalex.org/W2982770724","https://openalex.org/W2996890227","https://openalex.org/W3008450143","https://openalex.org/W3093125247"],"related_works":["https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159","https://openalex.org/W2393169196","https://openalex.org/W2366610330","https://openalex.org/W1550496571","https://openalex.org/W2558515415"],"abstract_inverted_index":{"Efficient":[0],"localization":[1,89,129],"is":[2,39,46,66,74,95],"crucial":[3],"for":[4],"the":[5,59,71,82,88,113,123,128,144,147,153,158],"autonomous":[6],"navigation":[7],"of":[8,48,81,127,146,161],"Unmanned":[9],"Aerial":[10],"Vehicles":[11],"(UAVs)":[12],"in":[13,41,168],"GPS-denied":[14],"environments.":[15],"Current":[16],"onboard":[17],"visual":[18],"positioning":[19,37],"approach":[20,38,45],"may":[21],"easily":[22],"deteriorate":[23],"with":[24,108,163,171],"varying":[25,172],"illumination":[26],"and":[27,53,70,102,125,166],"unpredicted":[28],"obstacles.":[29],"To":[30],"tackle":[31],"this":[32,42,121],"issue,":[33],"a":[34,49,62],"novel":[35],"cooperative":[36],"proposed":[40,148,154],"paper.":[43],"This":[44],"comprised":[47],"marker-based":[50,60],"position":[51],"estimation":[52,80],"an":[54,78,91,109],"end-to-end":[55,92],"UAV":[56,69,162],"detection.":[57],"For":[58],"method,":[61],"prior":[63],"known":[64],"pattern":[65],"attached":[67],"on":[68,98],"Perspective-n-point":[72],"(PnP)algorithm":[73],"implemented":[75],"to":[76,86,142],"provide":[77],"accurate":[79],"UAV's":[83],"position.":[84],"Meanwhile,":[85],"enhance":[87],"robustness,":[90],"detection":[93],"method":[94,155],"designed":[96],"based":[97],"FCOS":[99],"neural":[100],"network":[101],"ultra-wideband":[103],"(UWB)":[104],"range":[105],"measurement.":[106],"Then,":[107],"additional":[110],"data":[111],"fusion,":[112],"aforementioned":[114],"two":[115],"methods":[116],"are":[117,139],"integrated":[118],"eventually.":[119],"In":[120],"way,":[122],"accuracy":[124,165],"robustness":[126,167],"can":[130,156],"be":[131],"enhanced":[132],"accordingly.":[133],"Extensive":[134],"experiments":[135],"under":[136],"different":[137],"environments":[138,170],"carried":[140],"out":[141],"verify":[143],"effectiveness":[145],"method.":[149],"Results":[150],"demonstrate":[151],"that":[152],"estimate":[157],"flight":[159],"trajectory":[160],"high":[164],"cluttered":[169],"illumination.":[173]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}