{"id":"https://openalex.org/W4388405516","doi":"https://doi.org/10.1109/spawc53906.2023.10304552","title":"RF-Based Simultaneous Localization and Source Seeking for Multi-Robot Systems","display_name":"RF-Based Simultaneous Localization and Source Seeking for Multi-Robot Systems","publication_year":2023,"publication_date":"2023-09-25","ids":{"openalex":"https://openalex.org/W4388405516","doi":"https://doi.org/10.1109/spawc53906.2023.10304552"},"language":"en","primary_location":{"id":"doi:10.1109/spawc53906.2023.10304552","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/spawc53906.2023.10304552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 24th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC)","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/A5100665814","display_name":"Ke Xu","orcid":"https://orcid.org/0000-0003-2587-8517"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ke Xu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Information Engineering","Department of Information Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Information Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100422148","display_name":"Rui Zhang","orcid":"https://orcid.org/0000-0003-1870-3727"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Information Engineering","Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong","Department of Information Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Information Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100327671","display_name":"He Chen","orcid":"https://orcid.org/0000-0001-8886-9680"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Henry Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Information Engineering","Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong","Department of Information Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Information Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Information Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100665814"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.1961,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57124524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"311","last_page":"315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8335322141647339},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.6270979046821594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5869263410568237},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5776612758636475},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5177837610244751},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5020129680633545},{"id":"https://openalex.org/keywords/radio-frequency","display_name":"Radio frequency","score":0.4863932430744171},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4828236997127533},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.44639432430267334},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4107442796230316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3503122329711914},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34378546476364136},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.331484854221344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3203122019767761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1737108826637268},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16332226991653442},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1352289617061615},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08260557055473328}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8335322141647339},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.6270979046821594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5869263410568237},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5776612758636475},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5177837610244751},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5020129680633545},{"id":"https://openalex.org/C74064498","wikidata":"https://www.wikidata.org/wiki/Q3396184","display_name":"Radio frequency","level":2,"score":0.4863932430744171},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4828236997127533},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.44639432430267334},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4107442796230316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3503122329711914},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34378546476364136},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.331484854221344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3203122019767761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1737108826637268},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16332226991653442},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1352289617061615},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08260557055473328},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/spawc53906.2023.10304552","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/spawc53906.2023.10304552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 24th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"},{"id":"https://openalex.org/F4320335138","display_name":"Shun Hing Institute of Advanced Engineering","ror":"https://ror.org/00t33hh48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1869926830","https://openalex.org/W1974513678","https://openalex.org/W2081716160","https://openalex.org/W2116485803","https://openalex.org/W2140929789","https://openalex.org/W2149020252","https://openalex.org/W2160337655","https://openalex.org/W2169659202","https://openalex.org/W2606152178","https://openalex.org/W2899725245","https://openalex.org/W2903854276","https://openalex.org/W2961218374","https://openalex.org/W3021134042","https://openalex.org/W3100465872","https://openalex.org/W3165066846","https://openalex.org/W4213140844"],"related_works":["https://openalex.org/W2466816617","https://openalex.org/W1970834875","https://openalex.org/W842936808","https://openalex.org/W2785601041","https://openalex.org/W2241417046","https://openalex.org/W2908598672","https://openalex.org/W2597403208","https://openalex.org/W4307206503","https://openalex.org/W2393900892","https://openalex.org/W4306760398"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"a":[3,42],"radio-frequency":[4],"(RF)-based":[5],"simultaneous":[6],"localization":[7,51,99],"and":[8,21,32,55,86,140,149],"source-seeking":[9],"(SLASS)":[10],"problem":[11],"in":[12,126],"multi-robot":[13],"systems,":[14],"where":[15],"multiple":[16],"robots":[17,54,67,148,158],"jointly":[18],"localize":[19],"themselves":[20,35],"an":[22,61],"RF":[23,30],"source":[24,84,138],"using":[25],"distance-only":[26],"measurements":[27],"extracted":[28],"from":[29],"signals":[31],"then":[33],"control":[34,63,74],"to":[36,47,68,95,108,159],"approach":[37,69],"the":[38,49,53,56,66,70,78,83,87,92,97,110,119,129,136,141,144,147,150,157,160],"source.":[39,57,71,161],"We":[40,58],"design":[41],"Rao-Blackwellized":[43],"particle":[44],"filter-based":[45],"algorithm":[46],"realize":[48],"joint":[50],"of":[52,128,135,143,156],"also":[59],"devise":[60],"information-theoretic":[62],"policy":[64],"for":[65],"In":[72],"our":[73],"policy,":[75],"we":[76],"maximize":[77],"predicted":[79],"mutual":[80,111],"information":[81,112],"between":[82,146],"position":[85,139],"distance":[88],"measurements,":[89],"conditioned":[90],"on":[91],"robot":[93,98],"positions,":[94],"incorporate":[96],"uncertainties.":[100],"A":[101],"projected":[102],"gradient":[103],"ascent":[104],"method":[105],"is":[106],"adopted":[107],"solve":[109],"maximization":[113],"problem.":[114],"Simulation":[115],"results":[116],"show":[117],"that":[118],"proposed":[120],"SLASS":[121],"framework":[122],"outperforms":[123],"two":[124],"benchmarks":[125],"terms":[127],"root":[130],"mean":[131],"square":[132],"error":[133],"(RMSE)":[134],"estimated":[137],"decline":[142],"distances":[145],"source,":[151],"indicating":[152],"more":[153],"effective":[154],"approaching":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
