{"id":"https://openalex.org/W2134867621","doi":"https://doi.org/10.1109/robot.2008.4543403","title":"Tracking a moving target in cluttered environments with ranging radios","display_name":"Tracking a moving target in cluttered environments with ranging radios","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2134867621","doi":"https://doi.org/10.1109/robot.2008.4543403","mag":"2134867621"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Tracking_a_Moving_Target_in_Cluttered_Environments_with_Ranging_Radios/6561389","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023976625","display_name":"Geoffrey A. Hollinger","orcid":"https://orcid.org/0000-0001-6502-8950"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geoffrey Hollinger","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079342915","display_name":"Joseph Djugash","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Djugash","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100641190","display_name":"Sanjiv Singh","orcid":"https://orcid.org/0000-0001-5412-2888"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjiv Singh","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1430","last_page":"1435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.8263736963272095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6727275848388672},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6071676015853882},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.46333304047584534},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45226776599884033},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.43961790204048157},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4081311523914337},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39366793632507324},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.35014116764068604},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3254770040512085},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1078917384147644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09308189153671265}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.8263736963272095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6727275848388672},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6071676015853882},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.46333304047584534},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45226776599884033},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.43961790204048157},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4081311523914337},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39366793632507324},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35014116764068604},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3254770040512085},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1078917384147644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09308189153671265},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/robot.2008.4543403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.cmu.edu:robotics-1961","is_oa":false,"landing_page_url":"http://repository.cmu.edu/robotics/953","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6561389","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.188.1023","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.1023","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/hollinger_geoffrey_2008_2/hollinger_geoffrey_2008_2.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.68.4396","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.68.4396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/hollinger_geoffrey_2008_1/hollinger_geoffrey_2008_1.pdf","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6561389","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Tracking_a_Moving_Target_in_Cluttered_Environments_with_Ranging_Radios/6561389","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6561389.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6561389.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6561389","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Tracking_a_Moving_Target_in_Cluttered_Environments_with_Ranging_Radios/6561389","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W106164779","https://openalex.org/W287963231","https://openalex.org/W839735142","https://openalex.org/W1517682908","https://openalex.org/W1790231888","https://openalex.org/W2098846072","https://openalex.org/W2112280154","https://openalex.org/W2124609748","https://openalex.org/W2127600800","https://openalex.org/W2131152141","https://openalex.org/W2133294540","https://openalex.org/W2136111243","https://openalex.org/W2162234765","https://openalex.org/W2163280245","https://openalex.org/W2167387227","https://openalex.org/W2336416123","https://openalex.org/W6631189307","https://openalex.org/W6638190000","https://openalex.org/W6679216312","https://openalex.org/W6684654836"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,59,106],"propose":[4],"a":[5,16,23,61,84,108,139,173,194],"framework":[6],"for":[7],"utilizing":[8],"fixed,":[9],"ultra-wideband":[10],"ranging":[11,207],"radio":[12,206],"nodes":[13,37,171,204],"to":[14,76,79,90,123,143,164],"track":[15],"moving":[17,195],"target":[18,115,196],"node":[19,55,104,197],"through":[20],"walls":[21],"in":[22,184],"cluttered":[24],"environment.":[25,187],"We":[26,81,131,158,177],"examine":[27],"both":[28,211],"the":[29,32,35,43,50,53,70,74,92,96,99,114,125,128,133,144,161,166,169,200],"case":[30,44,51,100],"where":[31,45],"locations":[33,56,126,167,201],"of":[34,69,73,88,95,101,127,168,202],"fixed":[36,54,103,129,170,203],"are":[38,47,57,190,210],"known":[39],"as":[40,42],"well":[41],"they":[46],"unknown.":[48],"For":[49,98],"when":[52],"known,":[58],"derive":[60],"Bayesian":[62,174],"room-level":[63],"tracking":[64,193],"method":[65,85],"that":[66,111,121,209],"takes":[67],"advantage":[68],"structural":[71],"characteristics":[72,94],"environment":[75,146],"ensure":[77],"robustness":[78],"noise.":[80],"also":[82],"develop":[83],"using":[86,148,172,205],"mixtures":[87],"Gaussians":[89],"model":[91],"noise":[93],"radios.":[97],"unknown":[102],"locations,":[105],"present":[107,178],"two-step":[109],"approach":[110],"first":[112],"reconstructs":[113],"node's":[116],"path":[117,122,134,163],"and":[118,198,213],"then":[119,159],"uses":[120],"determine":[124],"nodes.":[130],"reconstruct":[132],"by":[135],"projecting":[136],"down":[137],"from":[138],"higher-dimensional":[140],"measurement":[141],"space":[142,147],"2D":[145],"non-linear":[149],"dimensionality":[150],"reduction":[151],"with":[152],"Gaussian":[153],"Process":[154],"Latent":[155],"Variable":[156],"Models(GPLVMs).":[157],"utilize":[160],"reconstructed":[162],"map":[165],"occupancy":[175],"grid.":[176],"experimental":[179],"results":[180],"verifying":[181],"our":[182],"methods":[183,189],"an":[185],"office":[186],"Our":[188],"successful":[191],"at":[192],"mapping":[199],"data":[208],"noisy":[212],"intermittent.":[214]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}