{"id":"https://openalex.org/W4386919817","doi":"https://doi.org/10.1109/sas58821.2023.10254018","title":"Benchmarking UWB-Based Infrastructure-Free Positioning and Multi-Robot Relative Localization: Dataset and Characterization","display_name":"Benchmarking UWB-Based Infrastructure-Free Positioning and Multi-Robot Relative Localization: Dataset and Characterization","publication_year":2023,"publication_date":"2023-07-18","ids":{"openalex":"https://openalex.org/W4386919817","doi":"https://doi.org/10.1109/sas58821.2023.10254018"},"language":"en","primary_location":{"id":"doi:10.1109/sas58821.2023.10254018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sas58821.2023.10254018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Sensors Applications Symposium (SAS)","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 Mor\u00f3n","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035633482","display_name":"Sahar Salimpour","orcid":"https://orcid.org/0000-0003-4954-0000"},"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":"Sahar Salimpour","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608558","display_name":"Lei Fu","orcid":"https://orcid.org/0000-0003-1356-4422"},"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":"Lei Fu","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051836425","display_name":"Xianjia Yu","orcid":"https://orcid.org/0000-0002-9042-3730"},"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":"Xianjia Yu","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,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"]}]},{"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 Pe\u00f1a Queralta","raw_affiliation_strings":["University of Turku,Turku Intelligent Embedded and Robotic Systems (TIERS) Lab,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"]}]},{"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"],"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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.859,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.73374207,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9886000156402588,"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/benchmarking","display_name":"Benchmarking","score":0.8833804130554199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5883325934410095},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5641270875930786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39621442556381226},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.07140696048736572}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8833804130554199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5883325934410095},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5641270875930786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39621442556381226},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.07140696048736572},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sas58821.2023.10254018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sas58821.2023.10254018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Sensors Applications Symposium (SAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2102796778","https://openalex.org/W2342656438","https://openalex.org/W2623923152","https://openalex.org/W2745859992","https://openalex.org/W2782715402","https://openalex.org/W2793043725","https://openalex.org/W2884280313","https://openalex.org/W2909063396","https://openalex.org/W2910743136","https://openalex.org/W2964029185","https://openalex.org/W2979457449","https://openalex.org/W2981585346","https://openalex.org/W3003587432","https://openalex.org/W3048710016","https://openalex.org/W3089258154","https://openalex.org/W3131299624","https://openalex.org/W3137857646","https://openalex.org/W3162310187","https://openalex.org/W4282591981","https://openalex.org/W4283314884","https://openalex.org/W4323645839","https://openalex.org/W4390111521","https://openalex.org/W6851334771"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687"],"abstract_inverted_index":{"Ultra-wideband":[0],"(UWB)":[1],"positioning":[2,187],"has":[3],"emerged":[4],"as":[5],"a":[6,77,105,156,164],"low-cost":[7],"and":[8,30,37,55,64,116,129,155],"dependable":[9],"localization":[10,40,54,57,84,102],"solution":[11],"for":[12,39,80,104,135,161,200],"multiple":[13,35],"use":[14],"cases,":[15],"from":[16],"mobile":[17,117],"robots":[18],"to":[19,92],"asset":[20],"tracking":[21],"within":[22],"the":[23,31,47,86,97,141,150,186],"Industrial":[24],"IoT.":[25],"The":[26],"technology":[27],"is":[28,58],"mature":[29],"scientific":[32],"literature":[33],"contains":[34,143],"datasets":[36,65],"methods":[38],"based":[41,148],"on":[42,149],"fixed":[43,115],"UWB":[44],"nodes.":[45,118,168],"At":[46],"same":[48],"time,":[49],"research":[50],"in":[51,66,74,197],"UWB-based":[52],"relative":[53,83,101,151],"infrastructure-free":[56,82],"gaining":[59],"traction,":[60],"further":[61],"domains.":[62],"tools":[63],"this":[67,75],"domain":[68,87],"are":[69,127,179],"scarce.":[70],"Therefore,":[71],"we":[72,95,202],"introduce":[73],"paper":[76],"novel":[78],"dataset":[79,142],"benchmarking":[81,136],"targeting":[85],"of":[88,99,109,114,145,153,159,167,176,195],"multi-robot":[89],"systems.":[90],"Compared":[91],"previous":[93],"datasets,":[94],"analyze":[96],"performance":[98],"different":[100,204],"approaches":[103],"much":[106],"wider":[107],"variety":[108],"scenarios":[110],"with":[111,181],"varying":[112],"numbers":[113],"A":[119],"motion":[120],"capture":[121],"system":[122],"provides":[123],"ground":[124],"truth":[125],"data,":[126],"multi-modal":[128],"include":[130],"inertial":[131],"or":[132],"odometry":[133],"measurements":[134,144,160],"sensor":[137],"fusion":[138],"methods.":[139],"Additionally,":[140],"ranging":[146,162],"accuracy":[147],"orientation":[152],"antennas":[154],"comprehensive":[157],"set":[158],"between":[163],"single":[165],"pair":[166],"Our":[169],"experimental":[170],"analysis":[171],"shows":[172],"that":[173],"mean":[174],"accuracies":[175],"10-20":[177],"cm":[178],"achievable":[180],"relatively":[182],"simple":[183],"methods;":[184],"however,":[185],"error":[188],"can":[189],"easily":[190],"increase":[191],"by":[192],"an":[193],"order":[194],"magnitude":[196],"degenerate":[198],"scenarios,":[199],"which":[201],"provide":[203],"examples.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
