{"id":"https://openalex.org/W4386065728","doi":"https://doi.org/10.1109/tim.2023.3305661","title":"Development and Analysis of a UWB Relative Localization System","display_name":"Development and Analysis of a UWB Relative Localization System","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386065728","doi":"https://doi.org/10.1109/tim.2023.3305661"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3305661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3305661","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/A5018503190","display_name":"Valerio Brunacci","orcid":"https://orcid.org/0000-0003-2518-9754"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valerio Brunacci","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2518-9754","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083411180","display_name":"Alessio De Angelis","orcid":"https://orcid.org/0000-0001-7953-4272"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio De Angelis","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7953-4272","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016925926","display_name":"Gabriele Costante","orcid":"https://orcid.org/0000-0002-8417-9372"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Costante","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8417-9372","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090244413","display_name":"Paolo Carbone","orcid":"https://orcid.org/0000-0003-0540-1287"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Carbone","raw_affiliation_strings":["Department of Engineering, University of Perugia, Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0540-1287","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27483092"],"apc_list":null,"apc_paid":null,"fwci":3.7054,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.94501909,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"13"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/computer-science","display_name":"Computer science","score":0.6417611837387085},{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.5508829355239868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.550655722618103},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5211344361305237},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5148895978927612},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5134690403938293},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5118555426597595},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.5071392059326172},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4380103647708893},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42755988240242004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22091886401176453},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19638153910636902},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17681467533111572},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.14610153436660767}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6417611837387085},{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.5508829355239868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.550655722618103},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5211344361305237},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5148895978927612},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5134690403938293},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5118555426597595},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.5071392059326172},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4380103647708893},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42755988240242004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22091886401176453},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19638153910636902},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17681467533111572},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.14610153436660767},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/tim.2023.3305661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3305661","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":[{"id":"https://metadata.un.org/sdg/7","score":0.800000011920929,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1507064084","https://openalex.org/W1542648184","https://openalex.org/W1593806715","https://openalex.org/W1965392255","https://openalex.org/W2036439337","https://openalex.org/W2047152596","https://openalex.org/W2557998141","https://openalex.org/W2578085927","https://openalex.org/W2595547504","https://openalex.org/W2604710118","https://openalex.org/W3003257820","https://openalex.org/W3039137620","https://openalex.org/W3092344703","https://openalex.org/W3097297497","https://openalex.org/W3106678532","https://openalex.org/W3131299624","https://openalex.org/W3133492880","https://openalex.org/W3142581566","https://openalex.org/W3155991567","https://openalex.org/W3176994581","https://openalex.org/W4210819144","https://openalex.org/W4212993176","https://openalex.org/W4282591981","https://openalex.org/W4297099764","https://openalex.org/W4313263315","https://openalex.org/W4323645839","https://openalex.org/W4388290870"],"related_works":["https://openalex.org/W4384112194","https://openalex.org/W2783354812","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4390813131","https://openalex.org/W2349383066","https://openalex.org/W4328132048","https://openalex.org/W4308259661","https://openalex.org/W3091773326","https://openalex.org/W2361508590"],"abstract_inverted_index":{"This":[0,129],"paper":[1,37],"presents":[2],"the":[3,13,25,28,31,39,59,62,78,82,90,104,148,152,175,193,205,232,248,252],"development":[4],"and":[5,45,54,74,103,133,144,180,185,217,223,237,245,259],"characterization":[6],"of":[7,17,27,61,77,150,155,159,166,177,192,212,234,250],"a":[8,20,48,55,64,72,156],"system":[9,68,80,95,138,195,229,254],"able":[10,118],"to":[11,109,119],"estimate":[12],"2D":[14,65],"relative":[15,66,153,227],"position":[16,154],"nodes":[18,161],"in":[19,142,174,183,215],"wireless":[21],"network,":[22],"based":[23],"on":[24,58,135],"measurement":[26],"distances":[29],"between":[30],"nodes.":[32],"To":[33],"this":[34,36],"end,":[35],"approaches":[38],"problem":[40],"from":[41,123],"two":[42],"perspectives:":[43],"implementation":[44],"theory.":[46],"Combining":[47],"classical":[49],"non-linear":[50],"least":[51],"square":[52],"approach":[53],"new":[56],"convention":[57],"arrangement":[60],"nodes,":[63],"positioning":[67],"was":[69,126,139],"developed.":[70,128],"Moreover,":[71],"numerical":[73],"theoretical":[75],"study":[76],"proposed":[79,253],"using":[81,220],"Cram\u00e9r":[83],"Rao":[84],"Lower":[85],"Bound":[86],"(CRLB),":[87],"proves":[88],"that":[89],"estimator":[91],"is":[92,131,173,196],"efficient.":[93],"The":[94,137,171,225,242],"uses":[96],"Ultra":[97],"Wide":[98],"Band":[99],"(UWB)":[100],"ranging":[101],"technology":[102],"Bluetooth":[105],"Low":[106],"Energy":[107],"protocol":[108],"acquire":[110,120],"data.":[111],"A":[112,189],"Robot":[113],"Operating":[114],"System":[115],"(ROS)":[116],"library":[117,130],"BLE":[121],"data":[122],"UWB":[124],"devices":[125],"also":[127],"open-source":[132],"available":[134],"github.":[136],"tested":[140],"both":[141,214],"dynamic":[143,186],"static":[145,184],"scenarios":[146,219],"demonstrating":[147],"capability":[149],"estimating":[151],"network":[157],"comprised":[158],"4":[160],"with":[162],"an":[163],"update":[164],"rate":[165],"10":[167],"updates":[168],"per":[169],"second.":[170],"accuracy":[172],"order":[176],"3":[178],"cm":[179],"8":[181],"cm,":[182],"conditions":[187],"respectively.":[188],"potential":[190],"application":[191],"developed":[194,226],"for":[197,255],"robot":[198,239],"localization.":[199],"In":[200],"fact,":[201],"autonomous":[202],"robots,":[203],"over":[204],"last":[206],"years,":[207],"have":[208],"reached":[209],"remarkable":[210],"capabilities":[211],"localization":[213,228,258],"indoor":[216],"outdoor":[218],"mainly":[221],"GPS":[222],"vision.":[224],"could":[230],"address":[231],"limitations":[233],"these":[235],"technologies":[236],"simplify":[238],"cooperative":[240,257],"tasks.":[241],"provided":[243],"results":[244],"analysis":[246],"show":[247],"feasibility":[249],"applying":[251],"multi-robot":[256],"formation":[260],"control":[261],"scenarios.":[262]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
