{"id":"https://openalex.org/W2766539609","doi":"https://doi.org/10.1109/robio.2017.8324816","title":"Sensor-based legged robot homing using range-only target localization","display_name":"Sensor-based legged robot homing using range-only target localization","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2766539609","doi":"https://doi.org/10.1109/robio.2017.8324816","mag":"2766539609"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/c3b8b022-1a18-4454-84f8-e5cebbd344f7/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007454832","display_name":"Vasileios Vasilopoulos","orcid":"https://orcid.org/0000-0003-4681-2410"},"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":true,"raw_author_name":"Vasileios Vasilopoulos","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042096409","display_name":"\u00d6m\u00fcr Arslan","orcid":"https://orcid.org/0000-0003-0436-6424"},"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":"Omur Arslan","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031870822","display_name":"Avik De","orcid":"https://orcid.org/0000-0002-2156-3705"},"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":"Avik De","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"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":"Daniel E. Koditschek","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5007454832"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.7871,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.713525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"202","issue":null,"first_page":"2630","last_page":"2637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6540911793708801},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6453879475593567},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5937597155570984},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5741060972213745},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.49659496545791626},{"id":"https://openalex.org/keywords/homing","display_name":"Homing (biology)","score":0.49426722526550293},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4631452262401581},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4487648010253906},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4197213649749756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4129781424999237},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2382952868938446},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.19840461015701294},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1145969033241272},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08809354901313782},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08182543516159058}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6540911793708801},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6453879475593567},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5937597155570984},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5741060972213745},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.49659496545791626},{"id":"https://openalex.org/C151872237","wikidata":"https://www.wikidata.org/wiki/Q1410759","display_name":"Homing (biology)","level":2,"score":0.49426722526550293},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4631452262401581},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4487648010253906},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4197213649749756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4129781424999237},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2382952868938446},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.19840461015701294},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1145969033241272},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08809354901313782},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08182543516159058},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robio.2017.8324816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1848","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/792","pdf_url":"https://repository.upenn.edu/bitstreams/c3b8b022-1a18-4454-84f8-e5cebbd344f7/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/34032","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/34032","pdf_url":null,"source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1848","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/792","pdf_url":"https://repository.upenn.edu/bitstreams/c3b8b022-1a18-4454-84f8-e5cebbd344f7/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2766539609.pdf","grobid_xml":"https://content.openalex.org/works/W2766539609.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W90060374","https://openalex.org/W170770739","https://openalex.org/W945940369","https://openalex.org/W1527751191","https://openalex.org/W1607633572","https://openalex.org/W1822001265","https://openalex.org/W1979266617","https://openalex.org/W2048475323","https://openalex.org/W2057408433","https://openalex.org/W2069830673","https://openalex.org/W2076367573","https://openalex.org/W2077676902","https://openalex.org/W2081469022","https://openalex.org/W2100564315","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2115709436","https://openalex.org/W2118268805","https://openalex.org/W2125409550","https://openalex.org/W2129224530","https://openalex.org/W2130601649","https://openalex.org/W2133351708","https://openalex.org/W2134772743","https://openalex.org/W2135489390","https://openalex.org/W2139775093","https://openalex.org/W2141519971","https://openalex.org/W2145036865","https://openalex.org/W2157765210","https://openalex.org/W2161427949","https://openalex.org/W2167374596","https://openalex.org/W2171353551","https://openalex.org/W2210741219","https://openalex.org/W2295130897","https://openalex.org/W2409953911","https://openalex.org/W2485992890","https://openalex.org/W2520678597","https://openalex.org/W2790901254","https://openalex.org/W2861559353","https://openalex.org/W3031414500","https://openalex.org/W6624932236","https://openalex.org/W6683428087","https://openalex.org/W6748612523","https://openalex.org/W6753175659","https://openalex.org/W6754479381"],"related_works":["https://openalex.org/W2146830435","https://openalex.org/W2589107051","https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2383567523","https://openalex.org/W2329076138","https://openalex.org/W2358209849"],"abstract_inverted_index":{"This":[0],"paper":[1],"demonstrates":[2],"a":[3,10],"fully":[4],"sensor-based":[5],"reactive":[6],"homing":[7],"behavior":[8],"on":[9],"physical":[11],"quadrupedal":[12],"robot,":[13],"using":[14,56],"onboard":[15],"sensors,":[16],"in":[17,32],"simple":[18],"(convex":[19],"obstacle-cluttered)":[20],"unknown,":[21],"GPS-denied":[22],"environments.":[23],"Its":[24],"implementation":[25],"is":[26],"enabled":[27],"by":[28,44],"our":[29,49],"empirical":[30],"success":[31],"controlling":[33],"the":[34,39,45],"legged":[35],"machine":[36],"to":[37],"approximate":[38],"(abstract)":[40],"unicycle":[41],"mechanics":[42],"assumed":[43],"navigation":[46],"algorithm,":[47],"and":[48],"proposed":[50],"method":[51],"of":[52],"range-only":[53],"target":[54],"localization":[55],"particle":[57],"filters.":[58]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}