{"id":"https://openalex.org/W4312208987","doi":"https://doi.org/10.1109/rose56499.2022.9977431","title":"UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems","display_name":"UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems","publication_year":2022,"publication_date":"2022-11-14","ids":{"openalex":"https://openalex.org/W4312208987","doi":"https://doi.org/10.1109/rose56499.2022.9977431"},"language":"en","primary_location":{"id":"doi:10.1109/rose56499.2022.9977431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose56499.2022.9977431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","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/A5080218422","display_name":"Paola Torrico Mor\u00f3n","orcid":null},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Paola Torrico Moron","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057290138","display_name":"Salma Salimi","orcid":"https://orcid.org/0000-0001-6946-9032"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Salma Salimi","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034604688","display_name":"Jorge Pe\u00f1a Queralta","orcid":"https://orcid.org/0000-0003-3091-3217"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jorge Pena Queralta","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031850966","display_name":"Tomi Westerlund","orcid":"https://orcid.org/0000-0002-1793-2694"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"education","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Tomi Westerlund","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,Finland","institution_ids":["https://openalex.org/I155660961"]},{"raw_affiliation_string":"Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.6324,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96594305,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9987999796867371,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9987999796867371,"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/T11498","display_name":"Security in Wireless Sensor Networks","score":0.9983000159263611,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9962999820709229,"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/scalability","display_name":"Scalability","score":0.8234397768974304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7592571377754211},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.7253289222717285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6034727692604065},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5405958294868469},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43267637491226196},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.425085186958313},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.329612135887146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19472289085388184},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1524149775505066}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.8234397768974304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7592571377754211},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.7253289222717285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6034727692604065},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5405958294868469},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43267637491226196},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.425085186958313},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.329612135887146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19472289085388184},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1524149775505066},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rose56499.2022.9977431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose56499.2022.9977431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W2102796778","https://openalex.org/W2102957353","https://openalex.org/W2284951713","https://openalex.org/W2342656438","https://openalex.org/W2360674415","https://openalex.org/W2597920226","https://openalex.org/W2748264495","https://openalex.org/W2774972936","https://openalex.org/W2787690100","https://openalex.org/W2802189056","https://openalex.org/W2887924658","https://openalex.org/W2905867785","https://openalex.org/W2909451774","https://openalex.org/W2910743136","https://openalex.org/W2952872256","https://openalex.org/W2954344537","https://openalex.org/W2957800788","https://openalex.org/W2991296600","https://openalex.org/W3012268014","https://openalex.org/W3035428442","https://openalex.org/W3044032811","https://openalex.org/W3047890446","https://openalex.org/W3081923731","https://openalex.org/W3089258154","https://openalex.org/W3089723250","https://openalex.org/W3095174237","https://openalex.org/W3096656822","https://openalex.org/W3131299624","https://openalex.org/W3136265589","https://openalex.org/W3137857646","https://openalex.org/W3139087220","https://openalex.org/W3153450883","https://openalex.org/W3166976696","https://openalex.org/W3201500456","https://openalex.org/W3201799306","https://openalex.org/W3207168623","https://openalex.org/W3208074961","https://openalex.org/W4226128512","https://openalex.org/W4285235494","https://openalex.org/W4301627401","https://openalex.org/W4323645839","https://openalex.org/W6752152400","https://openalex.org/W6810397627"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1982914007","https://openalex.org/W3114279067","https://openalex.org/W2159583675","https://openalex.org/W1852113167","https://openalex.org/W1493858311","https://openalex.org/W1824242903","https://openalex.org/W2155470929","https://openalex.org/W2394465510","https://openalex.org/W2111125783"],"abstract_inverted_index":{"Systems":[0],"for":[1,18,43,96,130,169,210],"relative":[2],"localization":[3,41,70,240],"in":[4,29,48,61,106,172],"multi-robot":[5],"systems":[6,53],"based":[7],"on":[8,225],"ultra-wideband":[9],"(UWB)":[10],"ranging":[11],"have":[12,113],"recently":[13],"emerged":[14],"as":[15],"robust":[16],"solutions":[17,33],"GNSS-denied":[19],"environments.":[20],"Scalability":[21],"remains":[22],"one":[23],"of":[24,37,64,68,78,93,118,148,175,205,215,230],"the":[25,49,62,75,89,116,121,159,184,203,206,232,239],"key":[26,57],"challenges,":[27],"particularly":[28],"adhoc":[30],"deployments.":[31],"Recent":[32],"include":[34],"dynamic":[35,160],"allocation":[36,101,163,209],"active":[38],"and":[39,66,91,125,156,190,196,227],"passive":[40],"modes":[42],"different":[44,153],"robots":[45,150],"or":[46],"nodes":[47],"system.":[50],"with":[51,82,120,145,193],"larger-scale":[52],"becoming":[54],"more":[55],"distributed,":[56],"research":[58],"questions":[59],"arise":[60],"areas":[63],"security":[65],"trustability":[67],"such":[69],"systems.":[71],"This":[72,179],"paper":[73],"studies":[74],"potential":[76],"integration":[77,117],"collaborative-decision":[79],"making":[80],"processes":[81],"distributed":[83,170],"ledger":[84],"technologies.":[85],"Specifically,":[86],"we":[87,112,137],"investigate":[88],"design":[90],"implementation":[92],"a":[94,107,127,173,188,222],"methodology":[95],"running":[97,143],"an":[98],"UWB":[99,161,207],"role":[100,162,208],"algorithm":[102,129,164],"within":[103,187],"smart":[104,167],"contracts":[105,168],"blockchain.":[108],"In":[109,134],"previous":[110],"works,":[111],"separately":[114],"studied":[115],"ROS2":[119],"Hyperledger":[122],"Fabric":[123,166],"blockchain,":[124],"introduced":[126],"new":[128],"scalable":[131],"UWB-based":[132],"localization.":[133],"this":[135],"paper,":[136],"extend":[138],"these":[139],"works":[140],"by":[141],"(i)":[142],"experiments":[144],"larger":[146],"number":[147],"mobile":[149,177,218],"switching":[151],"between":[152],"spatial":[154,213],"configurations":[155],"(ii)":[157],"integrating":[158],"into":[165],"decision-making":[171],"system":[174],"multiple":[176],"robots.":[178],"enables":[180],"us":[181],"to":[182],"deliver":[183],"same":[185],"functionality":[186],"secure":[189],"trustable":[191],"process,":[192],"enhanced":[194],"identity":[195],"data":[197],"access":[198],"management.":[199],"Our":[200],"results":[201],"show":[202],"effectiveness":[204],"continuously":[211],"varying":[212],"formations":[214],"six":[216],"autonomous":[217],"robots,":[219],"while":[220],"demonstrating":[221],"low":[223],"impact":[224],"latency":[226],"computational":[228],"resources":[229],"adding":[231],"blockchain":[233],"layer":[234],"that":[235],"does":[236],"not":[237],"affect":[238],"process.":[241]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
