{"id":"https://openalex.org/W2137726656","doi":"https://doi.org/10.1109/robot.2005.1570478","title":"Minimum Distance Localization for a Robot with Limited Visibility","display_name":"Minimum Distance Localization for a Robot with Limited Visibility","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2137726656","doi":"https://doi.org/10.1109/robot.2005.1570478","mag":"2137726656"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5000442113","display_name":"Malvika Rao","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. Rao","raw_affiliation_strings":["Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075441381","display_name":"Gregory Dudek","orcid":"https://orcid.org/0000-0001-5040-4925"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G. Dudek","raw_affiliation_strings":["Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036116001","display_name":"Sue Whitesides","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Whitesides","raw_affiliation_strings":["Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Centre for Intelligent Machines, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000442113"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":11.1421,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.98063795,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"26","issue":null,"first_page":"2438","last_page":"2445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T12288","display_name":"Optimization and Search Problems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9990000128746033,"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/visibility","display_name":"Visibility","score":0.8310497403144836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6697918176651001},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.6351093053817749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6270178556442261},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.623993992805481},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5704360008239746},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5602676868438721},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5324825644493103},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48965293169021606},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4835098087787628},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43517589569091797},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42736637592315674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39539453387260437},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3688811659812927},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36030876636505127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24394133687019348},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.15730908513069153},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.1307549774646759}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8310497403144836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6697918176651001},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.6351093053817749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6270178556442261},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.623993992805481},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5704360008239746},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5602676868438721},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5324825644493103},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48965293169021606},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4835098087787628},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43517589569091797},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42736637592315674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39539453387260437},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3688811659812927},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36030876636505127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24394133687019348},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.15730908513069153},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.1307549774646759},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.136.2539","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.136.2539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.mcgill.ca/~sue/papers/icra05.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1971836159","https://openalex.org/W1980745281","https://openalex.org/W2077669129","https://openalex.org/W2102621601","https://openalex.org/W2118516644","https://openalex.org/W2147121988","https://openalex.org/W2984348955","https://openalex.org/W6677612498"],"related_works":["https://openalex.org/W2743652671","https://openalex.org/W3188793535","https://openalex.org/W2032709970","https://openalex.org/W2066813664","https://openalex.org/W2094166299","https://openalex.org/W2519024191","https://openalex.org/W2963183586","https://openalex.org/W2159176266","https://openalex.org/W2044243445","https://openalex.org/W4388826510"],"abstract_inverted_index":{"Minimum":[0],"distance":[1,30],"localization":[2,31],"is":[3],"the":[4,8,22,26,36,49,54,62],"problem":[5,27,63],"of":[6,28,56],"finding":[7],"shortest":[9],"possible":[10],"path":[11],"for":[12],"a":[13],"robot":[14],"to":[15],"eliminate":[16],"ambiguity":[17],"regarding":[18],"its":[19],"position":[20],"in":[21,32],"environment.":[23],"We":[24],"consider":[25],"minimum":[29],"self-similar":[33],"environments,":[34],"where":[35],"robot's":[37],"sensor":[38],"has":[39],"limited":[40],"visibility,":[41],"and":[42,60],"describe":[43],"two":[44],"randomized":[45],"algorithms":[46,52],"that":[47],"solve":[48,61],"problem.":[50],"Our":[51,67],"reduce":[53],"risk":[55],"requiring":[57],"impractical":[58],"observations":[59],"without":[64],"excessive":[65],"computation.":[66],"results":[68],"are":[69],"validated":[70],"using":[71],"numerical":[72],"simulations.":[73]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}