{"id":"https://openalex.org/W2765560339","doi":"https://doi.org/10.1109/tro.2018.2830411","title":"Server-Assisted Distributed Cooperative Localization Over Unreliable Communication Links","display_name":"Server-Assisted Distributed Cooperative Localization Over Unreliable Communication Links","publication_year":2018,"publication_date":"2018-06-21","ids":{"openalex":"https://openalex.org/W2765560339","doi":"https://doi.org/10.1109/tro.2018.2830411","mag":"2765560339"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2830411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830411","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1608.00609","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049439078","display_name":"Solmaz S. Kia","orcid":"https://orcid.org/0000-0002-8492-6913"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Solmaz S. Kia","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California Irvine, Irvine, CA, USA","Department of Mechanical and Aerospace Engineering, University of California-Irvine, Irvine, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8492-6913","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California-Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044942351","display_name":"Jonathan Hechtbauer","orcid":null},"institutions":[{"id":"https://openalex.org/I41073452","display_name":"Management Center Innsbruck","ror":"https://ror.org/021kg9v06","country_code":"AT","type":"education","lineage":["https://openalex.org/I41073452"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Jonathan Hechtbauer","raw_affiliation_strings":["Department of Mechatronics, Management Center Innsbruck, Innsbruck, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, Management Center Innsbruck, Innsbruck, Austria","institution_ids":["https://openalex.org/I41073452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030213568","display_name":"David Gogokhiya","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Gogokhiya","raw_affiliation_strings":["Department of Computer Science, University of California Irvine, Irvine, CA, USA","[Department of Computer Science, University of California, Irvine, Irvine, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of California Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"[Department of Computer Science, University of California, Irvine, Irvine, CA, USA]","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024022921","display_name":"Sonia Mart\u0131\u0301nez","orcid":"https://orcid.org/0000-0001-6756-1484"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sonia Martinez","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA, USA","Department of Mechanical and Aerospace Engineering, University of California-San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6756-1484","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California-San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3427,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66536687,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"34","issue":"5","first_page":"1392","last_page":"1399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9968000054359436,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9901000261306763,"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/robot","display_name":"Robot","score":0.7650203704833984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7209781408309937},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6171417832374573},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4785657227039337},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4643462300300598},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.44429469108581543},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.43543750047683716},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.414466917514801},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41379913687705994},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4125102758407593},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.28057998418807983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21189630031585693}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7650203704833984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7209781408309937},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6171417832374573},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4785657227039337},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4643462300300598},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.44429469108581543},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.43543750047683716},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.414466917514801},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41379913687705994},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4125102758407593},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.28057998418807983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21189630031585693},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tro.2018.2830411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830411","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1608.00609","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1608.00609","pdf_url":"https://arxiv.org/pdf/1608.00609","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2765560339","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1608.00609","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:escholarship.org/ark:/13030/qt9g79m33j","is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/9g79m33j","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE TRANSACTIONS ON ROBOTICS, vol 34, iss 5","raw_type":"article"},{"id":"pmh:qt9g79m33j","is_oa":false,"landing_page_url":"http://www.escholarship.org/uc/item/9g79m33j","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kia, SS; Hechtbauer, J; Gogokhiya, D; &amp; Martinez, S. (2018). Server-Assisted Distributed Cooperative Localization Over Unreliable Communication Links. IEEE TRANSACTIONS ON ROBOTICS, 34(5), 1392 - 1399. doi: 10.1109/TRO.2018.2830411. UC Irvine: Retrieved from: http://www.escholarship.org/uc/item/9g79m33j","raw_type":"article"},{"id":"doi:10.48550/arxiv.1608.00609","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1608.00609","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1608.00609","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1608.00609","pdf_url":"https://arxiv.org/pdf/1608.00609","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G2343236603","display_name":"ULTIMATE NAVIGATION CHIP (UNAVCHIP): CHIP-SCALE PERSONAL NAVIGATION SYSTEM INTEGRATING DETERMINISTIC LOCALIZATION AND PROBABILISTIC SIGNALS OF OPPORTUNITY","funder_award_id":"70NANB17H192","funder_id":"https://openalex.org/F4320332178","funder_display_name":"National Institute of Standards and Technology"},{"id":"https://openalex.org/G6512555867","display_name":null,"funder_award_id":"FA9550-18-1-0158","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1493007304","https://openalex.org/W1913181888","https://openalex.org/W1972785301","https://openalex.org/W1975057272","https://openalex.org/W1982092890","https://openalex.org/W2096300742","https://openalex.org/W2109749443","https://openalex.org/W2117816453","https://openalex.org/W2138890480","https://openalex.org/W2143864104","https://openalex.org/W2157958213","https://openalex.org/W2212547592","https://openalex.org/W2410440994","https://openalex.org/W2502569300","https://openalex.org/W6636295294","https://openalex.org/W6678778387","https://openalex.org/W6679695590","https://openalex.org/W6681716780","https://openalex.org/W6745314249","https://openalex.org/W6908097565"],"related_works":["https://openalex.org/W2994611845","https://openalex.org/W2604702535","https://openalex.org/W2727997582","https://openalex.org/W2670060874","https://openalex.org/W2562209965","https://openalex.org/W2293984849","https://openalex.org/W2097569568","https://openalex.org/W3015472425","https://openalex.org/W2562479945","https://openalex.org/W1992141770","https://openalex.org/W2755211835","https://openalex.org/W2209615671","https://openalex.org/W2589124259","https://openalex.org/W2800330536","https://openalex.org/W1487786103","https://openalex.org/W2415446094","https://openalex.org/W1506292992","https://openalex.org/W2063986067","https://openalex.org/W2131806083","https://openalex.org/W2562903335"],"abstract_inverted_index":{"We":[0,21,138,175],"consider":[1],"the":[2,68,71,78,123,152,156,159,177],"problem":[3],"of":[4,14,67,70,74,118,155,163,179],"cooperative":[5],"localization":[6],"(CL)":[7],"via":[8,125],"interrobot":[9,107],"measurements":[10],"for":[11,122],"a":[12,23,33,50,56,89,119,135,167],"team":[13,72,124],"networked":[15],"robots":[16,79,157],"with":[17,148],"limited":[18],"on-board":[19],"resources.":[20],"propose":[22],"novel":[24],"algorithm":[25,113,142,181],"in":[26,32,65,88,166,182],"which":[27],"each":[28],"robot":[29,64],"localizes":[30],"itself":[31],"global":[34],"coordinate":[35],"frame":[36],"by":[37],"local":[38],"dead":[39],"reckoning,":[40],"and":[41,60,77,99,184],"opportunistically":[42],"corrects":[43],"its":[44],"pose":[45],"estimate":[46],"whenever":[47],"it":[48,104],"receives":[49,105],"relative":[51,90],"measurement":[52],"update":[53,101,160],"message":[54,161],"from":[55],"server.":[57],"The":[58,92],"computation":[59],"storage":[61],"cost":[62],"per":[63],"terms":[66],"size":[69],"is":[73,114,133,143],"order":[75],"$O(1)$,":[76],"are":[80,86,162],"only":[81,95],"transmitting":[82],"information":[83],"when":[84,103],"they":[85],"involved":[87],"measurement.":[91,108],"server":[93],"also":[94],"needs":[96],"to":[97,145],"compute":[98],"transmit":[100],"messages":[102],"an":[106,115,126],"Under":[109],"perfect":[110,131],"communication,":[111],"our":[112,141,180],"alternative":[116],"implementation":[117],"joint":[120],"CL":[121],"extended":[127],"Kalman":[128],"filter.":[129],"However,":[130],"communication":[132,146],"not":[134],"hard":[136],"constraint.":[137],"show":[139],"that":[140,151,172],"robust":[144],"failures,":[147],"formal":[149],"guarantees":[150],"updated":[153],"estimates":[154],"receiving":[158],"minimum":[164],"variance":[165],"first-order":[168],"approximate":[169],"sense":[170],"at":[171],"given":[173],"timestep.":[174],"demonstrate":[176],"performance":[178],"simulation":[183],"experiments.":[185]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
