{"id":"https://openalex.org/W2160650656","doi":"https://doi.org/10.1109/robot.2006.1642280","title":"Fault detection for mobile robots using redundant positioning systems","display_name":"Fault detection for mobile robots using redundant positioning systems","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2160650656","doi":"https://doi.org/10.1109/robot.2006.1642280","mag":"2160650656"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5016487801","display_name":"Paul Sundvall","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P. Sundvall","raw_affiliation_strings":["Centre for Autonomous Systems, KTH, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, KTH, Stockholm, Sweden","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P. Jensfelt","raw_affiliation_strings":["Centre for Autonomous Systems, KTH, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, KTH, Stockholm, Sweden","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3781","last_page":"3786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9958999752998352,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/odometry","display_name":"Odometry","score":0.7461774349212646},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7047722339630127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6932616829872131},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.6636065244674683},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6348400115966797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6202820539474487},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6066796183586121},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.549505352973938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4919571578502655},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4800523519515991},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.46977514028549194},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36812037229537964},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.12753942608833313}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7461774349212646},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7047722339630127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6932616829872131},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.6636065244674683},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6348400115966797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6202820539474487},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6066796183586121},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.549505352973938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4919571578502655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4800523519515991},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.46977514028549194},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36812037229537964},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.12753942608833313},{"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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1642280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.398.5839","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.398.5839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nada.kth.se/~patric/publications/icra06-paul.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":23,"referenced_works":["https://openalex.org/W180692900","https://openalex.org/W1537786506","https://openalex.org/W1577509784","https://openalex.org/W1635475619","https://openalex.org/W1650538669","https://openalex.org/W1757088154","https://openalex.org/W2102963934","https://openalex.org/W2106502371","https://openalex.org/W2111152968","https://openalex.org/W2120125074","https://openalex.org/W2128519721","https://openalex.org/W2154943073","https://openalex.org/W2164595491","https://openalex.org/W2165848869","https://openalex.org/W2169033759","https://openalex.org/W2171357383","https://openalex.org/W2296147781","https://openalex.org/W2502276222","https://openalex.org/W4243425824","https://openalex.org/W4285719527","https://openalex.org/W6607354398","https://openalex.org/W6637016196","https://openalex.org/W6677603713"],"related_works":["https://openalex.org/W2541791370","https://openalex.org/W2015996585","https://openalex.org/W2168170647","https://openalex.org/W4224913947","https://openalex.org/W2035976912","https://openalex.org/W813170165","https://openalex.org/W2712366421","https://openalex.org/W2001179691","https://openalex.org/W2134943711","https://openalex.org/W2734306012"],"abstract_inverted_index":{"Reliable":[0],"navigation":[1,47,67],"is":[2,43,50,83,165,175,193,201,222,242,247],"a":[3,46,78,170,227,233],"very":[4,218],"important":[5,88],"part":[6],"of":[7,24,92,109,187,210,238],"an":[8,70,161,185],"autonomous":[9],"mobile":[10,228],"robot":[11,19,94,110],"system.":[12],"This":[13,54],"means":[14,79],"for":[15,80,89,96,195],"instance":[16,97],"that":[17,49,57,146,244],"the":[18,65,76,90,93,98,129,156,189,214,245],"should":[20],"not":[21,178],"lose":[22],"track":[23],"its":[25],"position,":[26],"even":[27],"if":[28],"unexpected":[29,118],"events":[30],"like":[31],"wheel":[32,251],"slip":[33,252],"and":[34,113,138,224,232],"collisions":[35],"occur.":[36],"The":[37,102,173,199,220],"standard":[38],"approach":[39,221],"to":[40,44,116,177,203,249],"this":[41],"problem":[42],"construct":[45],"system":[48,246],"robust":[51],"in":[52,128,155,167,253],"itself.":[53],"paper":[55],"proposes":[56],"detecting":[58,81],"faults":[59],"can":[60,86,142,152],"also":[61,183],"be":[62,87,143,153],"made":[63],"outside":[64],"normal":[66],"system,":[68,95],"as":[69,205,236],"additional":[71],"fault":[72,190,197],"detector.":[73,157],"Besides":[74],"increasing":[75],"robustness,":[77],"deviations":[82],"obtained,":[84],"which":[85,192],"rest":[91],"top":[99],"level":[100],"planner.":[101],"method":[103],"uses":[104],"two":[105],"or":[106,125],"more":[107],"sources":[108,141,237],"position":[111,130,140,239],"estimates,":[112],"compares":[114],"them":[115],"detect":[117,180,250],"deviation":[119],"without":[120],"getting":[121],"deceived":[122],"by":[123],"drift":[124],"different":[126],"characteristics":[127],"systems":[131,149],"it":[132,206],"gets":[133],"information":[134],"from.":[135],"Both":[136],"relative":[137],"absolute":[139],"used,":[144],"meaning":[145],"existing":[147,211],"positioning":[148],"already":[150],"implemented":[151,223],"used":[154,166],"For":[158],"detection":[159],"purposes,":[160],"extended":[162],"Kalman":[163],"filter":[164],"conjunction":[168],"with":[169],"CUSUM":[171],"test.":[172],"detector":[174,200],"able":[176,248],"only":[179],"faults,":[181],"but":[182],"give":[184],"estimate":[186],"when":[188],"occurred,":[191],"useful":[194],"doing":[196],"recovery.":[198],"easy":[202],"implement,":[204],"requires":[207],"no":[208],"modification":[209],"systems.":[212],"Also":[213],"computational":[215],"demands":[216],"are":[217],"low.":[219],"demonstrated":[225],"on":[226],"robot,":[229],"using":[230],"odometry":[231],"scan":[234],"matcher":[235],"information.":[240],"It":[241],"shown":[243],"real-time":[254]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}