{"id":"https://openalex.org/W4411019338","doi":"https://doi.org/10.1109/robosoft63089.2025.11020858","title":"Soft Robot Localization Using Distributed Miniaturized Time-of-Flight Sensors","display_name":"Soft Robot Localization Using Distributed Miniaturized Time-of-Flight Sensors","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019338","doi":"https://doi.org/10.1109/robosoft63089.2025.11020858"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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/A5055775355","display_name":"Giammarco Caroleo","orcid":"https://orcid.org/0000-0003-1796-7472"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Giammarco Caroleo","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041142320","display_name":"Alessandro Albini","orcid":"https://orcid.org/0000-0003-1562-7044"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alessandro Albini","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9975000023841858,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9975000023841858,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940999746322632,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9919000267982483,"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/robot","display_name":"Robot","score":0.6156876087188721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6132994294166565},{"id":"https://openalex.org/keywords/time-of-flight","display_name":"Time of flight","score":0.48654261231422424},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4336106777191162},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4290536642074585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32640814781188965},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1410793960094452},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07109099626541138}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6156876087188721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6132994294166565},{"id":"https://openalex.org/C98960154","wikidata":"https://www.wikidata.org/wiki/Q3983322","display_name":"Time of flight","level":2,"score":0.48654261231422424},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4336106777191162},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4290536642074585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32640814781188965},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1410793960094452},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07109099626541138}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1680392829","https://openalex.org/W2049981393","https://openalex.org/W2107862988","https://openalex.org/W2168091185","https://openalex.org/W2336416123","https://openalex.org/W2463867448","https://openalex.org/W2537786618","https://openalex.org/W2736878617","https://openalex.org/W2781630899","https://openalex.org/W2789884309","https://openalex.org/W2810733590","https://openalex.org/W2883279767","https://openalex.org/W2890088732","https://openalex.org/W2908964649","https://openalex.org/W2946871295","https://openalex.org/W3003971233","https://openalex.org/W3084283133","https://openalex.org/W3090462889","https://openalex.org/W3150627400","https://openalex.org/W3204719635","https://openalex.org/W3215084707","https://openalex.org/W4200553600","https://openalex.org/W4211154833","https://openalex.org/W4225088421","https://openalex.org/W4225163031","https://openalex.org/W4281642191","https://openalex.org/W4288391524","https://openalex.org/W4310564884","https://openalex.org/W4315778466","https://openalex.org/W4389667236","https://openalex.org/W4390734970","https://openalex.org/W4396853441","https://openalex.org/W4402715951","https://openalex.org/W4405785756","https://openalex.org/W6637386731"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W3000404326","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Thanks":[0],"to":[1,11,30,68,91,124,135,179,187],"their":[2,161],"compliance":[3],"and":[4,27,49,65,88,117,138,159],"adaptability,":[5],"soft":[6,72,102,157,171],"robots":[7],"can":[8,96,173],"be":[9,97,175],"deployed":[10],"perform":[12],"tasks":[13],"in":[14,46,76],"constrained":[15],"or":[16,59],"complex":[17],"environments.":[18],"In":[19],"these":[20],"scenarios,":[21],"spatial":[22,115],"awareness":[23],"of":[24,79,109,127,155],"the":[25,28,32,35,101,110,113,118,125,153,170,188,191,195],"surroundings":[26],"ability":[29],"localize":[31],"robot":[33,103,172],"within":[34],"environment":[36],"represent":[37],"key":[38],"aspects.":[39],"While":[40],"state-of-the-art":[41,128],"localization":[42,129],"techniques":[43],"are":[44,63,132],"well-explored":[45],"autonomous":[47],"vehicles":[48],"walking":[50],"robots,":[51],"they":[52],"rely":[53],"on":[54,100,152,190],"data":[55,108],"retrieved":[56],"with":[57,177,183],"lidar":[58],"depth":[60,107],"sensors":[61,82,95],"which":[62,131],"bulky":[64,92],"thus":[66],"difficult":[67],"integrate":[69],"into":[70],"small":[71,87,114],"robots.":[73],"Recent":[74],"developments":[75],"miniaturized":[77,196],"Time":[78],"Flight":[80],"(ToF)":[81],"show":[83,168],"promise":[84],"as":[85],"a":[86,122,156,180],"lightweight":[89],"alternative":[90],"sensors.":[93,198],"These":[94],"potentially":[98],"distributed":[99,146],"body,":[104],"providing":[105],"multi-point":[106],"surroundings.":[111],"However,":[112],"resolution":[116],"noisy":[119],"measurements":[120],"pose":[121],"challenge":[123],"success":[126],"algorithms,":[130],"generally":[133],"applied":[134],"much":[136],"denser":[137],"more":[139],"reliable":[140],"measurements.In":[141],"this":[142],"paper,":[143],"we":[144],"enforce":[145],"VL53L5CX":[147],"ToF":[148,197],"sensors,":[149],"mount":[150],"them":[151],"tip":[154],"robot,":[158],"investigate":[160],"usage":[162],"for":[163],"self-localization":[164],"tasks.":[165],"Experimental":[166],"results":[167],"that":[169],"effectively":[174],"localized":[176],"respect":[178],"known":[181],"map,":[182],"an":[184],"error":[185],"comparable":[186],"uncertainty":[189],"measures":[192],"provided":[193],"by":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}