{"id":"https://openalex.org/W2139017160","doi":"https://doi.org/10.1109/tim.2011.2126890","title":"Accurate Hybrid Global Self-Localization Algorithm for Indoor Mobile Robots With Two-Dimensional Isotropic Ultrasonic Receivers","display_name":"Accurate Hybrid Global Self-Localization Algorithm for Indoor Mobile Robots With Two-Dimensional Isotropic Ultrasonic Receivers","publication_year":2011,"publication_date":"2011-04-06","ids":{"openalex":"https://openalex.org/W2139017160","doi":"https://doi.org/10.1109/tim.2011.2126890","mag":"2139017160"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2011.2126890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2011.2126890","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100321809","display_name":"Seong Jin Kim","orcid":"https://orcid.org/0000-0002-7794-5593"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong Jin Kim","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030306044","display_name":"Byung Kook Kim","orcid":"https://orcid.org/0000-0001-7677-9653"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung Kook Kim","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":3.7278,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.93664839,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"60","issue":"10","first_page":"3391","last_page":"3404"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.8717343807220459},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7954927682876587},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.7187638282775879},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6555546522140503},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6003682017326355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.596218466758728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5883104205131531},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5676702857017517},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32880425453186035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32458925247192383},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.28536224365234375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20135599374771118},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0855293869972229},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07551908493041992},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06287333369255066}],"concepts":[{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.8717343807220459},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7954927682876587},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.7187638282775879},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6555546522140503},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6003682017326355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.596218466758728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5883104205131531},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5676702857017517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32880425453186035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32458925247192383},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.28536224365234375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20135599374771118},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0855293869972229},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07551908493041992},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06287333369255066},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2011.2126890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2011.2126890","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1414451058","https://openalex.org/W1560270123","https://openalex.org/W1569177140","https://openalex.org/W1905113856","https://openalex.org/W1965563305","https://openalex.org/W1966253317","https://openalex.org/W1974025511","https://openalex.org/W1981988350","https://openalex.org/W1996908311","https://openalex.org/W2000430915","https://openalex.org/W2017060739","https://openalex.org/W2026216828","https://openalex.org/W2046865945","https://openalex.org/W2051047987","https://openalex.org/W2060653311","https://openalex.org/W2065471261","https://openalex.org/W2067068939","https://openalex.org/W2091582232","https://openalex.org/W2095469618","https://openalex.org/W2095751621","https://openalex.org/W2102901094","https://openalex.org/W2104866265","https://openalex.org/W2105562580","https://openalex.org/W2115199836","https://openalex.org/W2116191958","https://openalex.org/W2116509542","https://openalex.org/W2124651605","https://openalex.org/W2127157498","https://openalex.org/W2127513179","https://openalex.org/W2129345009","https://openalex.org/W2129709893","https://openalex.org/W2135938717","https://openalex.org/W2143494529","https://openalex.org/W2145663347","https://openalex.org/W2147657669","https://openalex.org/W2159757680","https://openalex.org/W2167951127","https://openalex.org/W2170740604","https://openalex.org/W2336416123","https://openalex.org/W2758107681","https://openalex.org/W4233421528","https://openalex.org/W4250887681","https://openalex.org/W4285719527","https://openalex.org/W6640034412","https://openalex.org/W6674355796","https://openalex.org/W6681131941"],"related_works":["https://openalex.org/W2794789911","https://openalex.org/W4298134547","https://openalex.org/W2122976425","https://openalex.org/W2088773039","https://openalex.org/W4382753160","https://openalex.org/W2284229495","https://openalex.org/W2028697747","https://openalex.org/W2543203645","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"A":[0],"novel":[1],"accurate":[2],"hybrid":[3,55],"global":[4],"self-localization":[5],"algorithm":[6,52],"is":[7,53],"proposed":[8,93],"for":[9],"determining":[10],"the":[11,14,17,48,65,87,92],"posture":[12],"(or":[13],"position":[15],"and":[16,39,60,71,83,89],"orientation)":[18],"of":[19,91],"indoor":[20],"mobile":[21,49],"robots.":[22,50],"Our":[23,51],"ultrasonic":[24,33,43],"localization":[25],"system":[26],"can":[27],"be":[28],"constructed":[29],"economically,":[30],"with":[31,79],"several":[32],"transmitters":[34],"fixed":[35],"at":[36],"reference":[37],"positions":[38,70],"a":[40,54,75],"2-D":[41],"isotropic":[42],"receiver":[44],"array":[45],"mounted":[46],"on":[47,69],"type":[56],"utilizing":[57],"selective":[58],"direct":[59],"indirect":[61],"methods":[62],"to":[63],"obtain":[64],"best":[66],"possible":[67],"accuracy":[68,90],"orientations,":[72],"which":[73],"minimizes":[74],"new":[76],"performance":[77],"index":[78],"significant":[80],"points.":[81],"Simulation":[82],"experimental":[84],"results":[85],"demonstrate":[86],"validity":[88],"algorithm.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}