{"id":"https://openalex.org/W4225835048","doi":"https://doi.org/10.1109/tase.2022.3169442","title":"EKF-LOAM: An Adaptive Fusion of LiDAR SLAM With Wheel Odometry and Inertial Data for Confined Spaces With Few Geometric Features","display_name":"EKF-LOAM: An Adaptive Fusion of LiDAR SLAM With Wheel Odometry and Inertial Data for Confined Spaces With Few Geometric Features","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4225835048","doi":"https://doi.org/10.1109/tase.2022.3169442"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3169442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3169442","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5015963499","display_name":"Gilmar P. Cruz","orcid":"https://orcid.org/0000-0002-8103-0206"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gilmar P. Cruz Junior","raw_affiliation_strings":["Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-8103-0206","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085455717","display_name":"Adriano M. C. Rezende","orcid":"https://orcid.org/0000-0001-7784-6934"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Adriano M. C. Rezende","raw_affiliation_strings":["Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-7784-6934","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050486697","display_name":"Victor R. F. Miranda","orcid":"https://orcid.org/0000-0001-9653-6050"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Victor R. F. Miranda","raw_affiliation_strings":["Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-9653-6050","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038366181","display_name":"Rafael Fernandes","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Rafael Fernandes","raw_affiliation_strings":["Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-5537-4649","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061834397","display_name":"H\u00e9ctor Azp\u00farua","orcid":"https://orcid.org/0000-0002-4182-2540"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Hector Azpurua","raw_affiliation_strings":["Department of Computer Science (DCC), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-4182-2540","affiliations":[{"raw_affiliation_string":"Department of Computer Science (DCC), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083656237","display_name":"Armando Alves Neto","orcid":"https://orcid.org/0000-0002-4940-0377"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Armando A. Neto","raw_affiliation_strings":["Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-4940-0377","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000558559","display_name":"Gustavo Pessin","orcid":"https://orcid.org/0000-0002-7411-9229"},"institutions":[{"id":"https://openalex.org/I165476936","display_name":"Vale (Brazil)","ror":"https://ror.org/05a99n355","country_code":"BR","type":"company","lineage":["https://openalex.org/I165476936"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo Pessin","raw_affiliation_strings":["Instituto Tecnol&#x00F3;gico Vale (ITV), Ouro Preto, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-7411-9229","affiliations":[{"raw_affiliation_string":"Instituto Tecnol&#x00F3;gico Vale (ITV), Ouro Preto, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I165476936"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034989154","display_name":"Gustavo Freitas","orcid":"https://orcid.org/0000-0001-5343-7028"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo M. Freitas","raw_affiliation_strings":["Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-5343-7028","affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":56.436,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.99893699,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"19","issue":"3","first_page":"1458","last_page":"1471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8912923336029053},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7706829309463501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6098085045814514},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5706561207771301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5091027617454529},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49625498056411743},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4868030250072479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48125168681144714},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.46069949865341187},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4178401827812195},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.4147425889968872},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3988415002822876}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8912923336029053},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7706829309463501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6098085045814514},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5706561207771301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5091027617454529},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49625498056411743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4868030250072479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48125168681144714},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.46069949865341187},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4178401827812195},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.4147425889968872},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3988415002822876}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3169442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3169442","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G2356739865","display_name":null,"funder_award_id":"429096/2018-6","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G2556352422","display_name":null,"funder_award_id":"407063/2021-8","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G6208518364","display_name":null,"funder_award_id":"402725/2018-2","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G6334989471","display_name":null,"funder_award_id":"308425/2017-0","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G8347442190","display_name":null,"funder_award_id":"306286/2020-3","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"}],"funders":[{"id":"https://openalex.org/F4320316037","display_name":"Instituto Tecnol\u00f3gico Vale","ror":"https://ror.org/05wnasr61"},{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320322980","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de Minas Gerais","ror":"https://ror.org/00nc55f03"},{"id":"https://openalex.org/F4320324369","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2093466771","https://openalex.org/W2097345517","https://openalex.org/W2109814287","https://openalex.org/W2113265921","https://openalex.org/W2142111022","https://openalex.org/W2144966261","https://openalex.org/W2296228853","https://openalex.org/W2296613180","https://openalex.org/W2489898654","https://openalex.org/W2569273543","https://openalex.org/W2886968365","https://openalex.org/W2888422218","https://openalex.org/W2905178987","https://openalex.org/W2909908358","https://openalex.org/W2919409595","https://openalex.org/W2946764578","https://openalex.org/W2999751264","https://openalex.org/W3004418007","https://openalex.org/W3004601025","https://openalex.org/W3015235064","https://openalex.org/W3030526828","https://openalex.org/W3076249718","https://openalex.org/W3092166936","https://openalex.org/W3092218351","https://openalex.org/W3098410961","https://openalex.org/W3106302529","https://openalex.org/W3114322046","https://openalex.org/W3118391509","https://openalex.org/W3126830741","https://openalex.org/W3134348556","https://openalex.org/W3136838717","https://openalex.org/W3159400523","https://openalex.org/W3170620799","https://openalex.org/W3196708299","https://openalex.org/W3201923677","https://openalex.org/W4200171763","https://openalex.org/W4246614213","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W2125308530","https://openalex.org/W3123982513","https://openalex.org/W2034836143","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W1541079531"],"abstract_inverted_index":{"A":[0],"precise":[1],"localization":[2,181],"system":[3],"and":[4,46,50,71,91,105,155,174,182,191,220,247],"a":[5,63,89,111,161,187,226,240],"map":[6],"that":[7,120,165],"properly":[8],"represents":[9],"the":[10,27,78,98,109,123,134,144,179,211,230,234,237,252,270],"environment":[11],"are":[12,22,54],"fundamental":[13],"for":[14,149,229],"several":[15],"robotic":[16],"applications.":[17],"Traditional":[18],"LiDAR":[19,214],"SLAM":[20,215,271],"algorithms":[21],"particularly":[23],"susceptible":[24],"to":[25,56,115,133,138,177,268],"underestimating":[26,124],"distance":[28],"covered":[29],"by":[30,143],"real":[31],"robots":[32,152],"in":[33,204,245],"environments":[34],"with":[35,108,126,206],"few":[36,207],"geometric":[37,102,208],"features.":[38,103,222],"Common":[39],"industrial":[40],"confined":[41,117,154,249],"spaces,":[42],"such":[43,265],"as":[44,170,266],"ducts":[45],"galleries,":[47],"have":[48],"long":[49],"homogeneous":[51],"structures,":[52],"which":[53,67],"difficult":[55],"map.":[57],"In":[58,257],"this":[59],"paper,":[60],"we":[61,159,260],"propose":[62,160],"novel":[64],"approach,":[65],"theEKF-LOAM,":[66],"fuses":[68],"wheel":[69,172],"odometry":[70],"IMU":[72],"(Inertial":[73],"Measurement":[74],"Unit)":[75],"data":[76,162],"into":[77],"LeGO-LOAM":[79,136],"algorithm":[80],"using":[81],"an":[82],"Extended":[83],"Kalman":[84],"Filter.":[85],"For":[86],"that,":[87],"theEKF-LOAMuses":[88],"simple":[90],"lightweight":[92],"adaptive":[93],"covariance":[94],"matrix":[95],"based":[96,217],"on":[97,218],"number":[99],"of":[100,146,186,213,233,239,254],"detected":[101],"Simulated":[104],"real-world":[106,248],"experiments":[107],"EspeleoRob\u00f4,":[110],"service":[112],"robot":[113,188,235],"designed":[114],"inspect":[116],"places,":[118],"show":[119,251],"theEKF-LOAMmethod":[121],"reduces":[122],"problem,":[125],"improvements":[127],"greater":[128],"than":[129],"50%":[130],"when":[131],"compared":[132],"original":[135],"algorithm.Note":[137],"Practitioners\u2014This":[139],"paper":[140],"is":[141],"motivated":[142],"challenges":[145],"autonomous":[147,231],"navigation":[148,232],"mobile":[150],"ground":[151],"within":[153],"unstructured":[156],"environments.":[157],"Here,":[158],"fusion":[163],"framework":[164],"uses":[166],"common":[167],"sensors":[168],"(such":[169],"LiDARs,":[171],"odometry,":[173],"inertial":[175],"devices)":[176],"improve":[178,269],"simultaneous":[180],"mapping":[183,238],"(SLAM)":[184],"capabilities":[185],"without":[189],"GPS":[190],"compass.":[192],"This":[193],"approach":[194],"does":[195],"not":[196],"need":[197],"artificial":[198],"landmarks":[199],"nor":[200],"ideal":[201],"light":[202],"and,":[203],"scenarios":[205],"features,":[209],"increases":[210],"performance":[212],"techniques":[216],"edge":[219],"planar":[221],"We":[223],"also":[224],"provide":[225],"robust":[227],"controller":[228],"during":[236],"tunnel.":[241],"Experiments":[242],"carried":[243],"out":[244],"simulation":[246],"places":[250],"effectiveness":[253],"our":[255],"approach.":[256],"future":[258],"work,":[259],"shall":[261],"incorporate":[262],"other":[263],"sensors,":[264],"cameras,":[267],"process.":[272]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":42},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
