{"id":"https://openalex.org/W4416676980","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249545","title":"Comparing Sensors for Position Estimation of a Small Size League Robot","display_name":"Comparing Sensors for Position Estimation of a Small Size League Robot","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4416676980","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249545"},"language":null,"primary_location":{"id":"doi:10.1109/sbr/wre66973.2025.11249545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","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/A5113062929","display_name":"Jo\u00e3o Victor Louren\u00e7o Aguiar","orcid":"https://orcid.org/0009-0009-2544-0161"},"institutions":[{"id":"https://openalex.org/I139221136","display_name":"Centro Universit\u00e1rio FEI","ror":"https://ror.org/007kf5222","country_code":"BR","type":"education","lineage":["https://openalex.org/I139221136"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Victor Louren\u00e7o Aguiar","raw_affiliation_strings":["Centro Universitário FEI,Department of Electrical Engineering,Brazil"],"raw_orcid":"https://orcid.org/0009-0009-2544-0161","affiliations":[{"raw_affiliation_string":"Centro Universitário FEI,Department of Electrical Engineering,Brazil","institution_ids":["https://openalex.org/I139221136"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005947576","display_name":"Flavio Tonidandel","orcid":"https://orcid.org/0000-0003-0345-668X"},"institutions":[{"id":"https://openalex.org/I139221136","display_name":"Centro Universit\u00e1rio FEI","ror":"https://ror.org/007kf5222","country_code":"BR","type":"education","lineage":["https://openalex.org/I139221136"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Flavio Tonidandel","raw_affiliation_strings":["Centro Universitário FEI,Department of Robotics Engineering,Brazil"],"raw_orcid":"https://orcid.org/0000-0003-0345-668X","affiliations":[{"raw_affiliation_string":"Centro Universitário FEI,Department of Robotics Engineering,Brazil","institution_ids":["https://openalex.org/I139221136"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42028682,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"117","last_page":"122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9571999907493591,"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":0.9571999907493591,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.00570000009611249,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.002899999963119626,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/sensor-fusion","display_name":"Sensor fusion","score":0.6104000210762024},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5956000089645386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5878000259399414},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5846999883651733},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5516999959945679},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5437999963760376},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5142999887466431},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.460999995470047},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4447000026702881}],"concepts":[{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6104000210762024},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5956000089645386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5878000259399414},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5846999883651733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5658000111579895},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5516999959945679},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5437999963760376},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5404000282287598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5349000096321106},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5142999887466431},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.460999995470047},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4447000026702881},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4036000072956085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3603000044822693},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.35260000824928284},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.3402999937534332},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32179999351501465},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3206000030040741},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3149999976158142},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3095000088214874},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.3050000071525574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2831999957561493},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.27379998564720154},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2669999897480011},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26010000705718994},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2597000002861023},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr/wre66973.2025.11249545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1564732913","https://openalex.org/W2160584648","https://openalex.org/W2756242387","https://openalex.org/W3008195728","https://openalex.org/W3009555367","https://openalex.org/W3049043977","https://openalex.org/W3203556180","https://openalex.org/W4284975089","https://openalex.org/W4292388517","https://openalex.org/W4360778087","https://openalex.org/W4392738618","https://openalex.org/W4412130277"],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"are":[2],"increasingly":[3],"relevant":[4],"across":[5],"various":[6],"applications,":[7],"where":[8],"accurate":[9],"localization-determining":[10],"the":[11,64,83],"robot's":[12],"position":[13,123],"within":[14],"its":[15],"environment-remains":[16],"a":[17,30,96],"fundamental":[18],"and":[19,25,67,80,94,110],"challenging":[20],"task":[21],"for":[22,36,89,125],"effective":[23,106],"navigation":[24],"decision-making.":[26],"This":[27,102],"paper":[28],"details":[29],"comparative":[31],"analysis":[32],"of":[33],"sensor":[34,103],"configurations":[35],"an":[37,48,59,68],"embedded":[38],"localization":[39],"system":[40,120],"in":[41,82,107],"RoboCup":[42],"Small":[43],"Size":[44],"League":[45],"robots.":[46],"Using":[47],"Extended":[49],"Kalman":[50],"Filter":[51],"(EKF),":[52],"we":[53],"fuse":[54],"data":[55],"from":[56],"wheel":[57],"encoders,":[58],"Inertial":[60],"Measurement":[61],"Unit":[62],"(IMU),":[63],"SSL-Vision":[65,88],"system,":[66],"omnidirectional":[69],"robot":[70,122],"kinematic":[71],"model.":[72],"Results":[73],"show":[74],"that":[75],"combining":[76],"onboard":[77],"sensors":[78],"(encoders":[79],"IMU)":[81],"EKF's":[84],"prediction":[85],"phase":[86],"with":[87],"correction":[90],"significantly":[91],"improves":[92],"accuracy":[93],"maintains":[95],"rapid":[97],"3.5":[98],"ms":[99],"update":[100],"rate.":[101],"fusion":[104],"proves":[105],"dynamic":[108],"environments":[109],"mitigates":[111],"temporary":[112],"vision":[113],"occlusions.":[114],"Future":[115],"work":[116],"involves":[117],"implementing":[118],"this":[119],"into":[121],"control":[124],"enhanced":[126],"gameplay.":[127]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-25T00:00:00"}