{"id":"https://openalex.org/W4366378402","doi":"https://doi.org/10.1109/tro.2023.3263772","title":"Ranging-Based Localizability Optimization for Mobile Robotic Networks","display_name":"Ranging-Based Localizability Optimization for Mobile Robotic Networks","publication_year":2023,"publication_date":"2023-04-19","ids":{"openalex":"https://openalex.org/W4366378402","doi":"https://doi.org/10.1109/tro.2023.3263772"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3263772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3263772","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":["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/A5084238291","display_name":"Justin Cano","orcid":"https://orcid.org/0000-0002-8426-2256"},"institutions":[{"id":"https://openalex.org/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Justin Cano","raw_affiliation_strings":["Department of Electrical Engineering, Polytechnique Montreal, Montreal, QC, Canada","GERAD, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8426-2256","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Polytechnique Montreal, Montreal, QC, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"GERAD, Montreal, QC, Canada","institution_ids":["https://openalex.org/I4210133247"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012980200","display_name":"J\u00e9r\u00f4me Le Ny","orcid":"https://orcid.org/0000-0002-3417-4135"},"institutions":[{"id":"https://openalex.org/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jerome Le Ny","raw_affiliation_strings":["Department of Electrical Engineering, Polytechnique Montreal, Montreal, QC, Canada","GERAD, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-3417-4135","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Polytechnique Montreal, Montreal, QC, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"GERAD, Montreal, QC, Canada","institution_ids":["https://openalex.org/I4210133247"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084238291"],"corresponding_institution_ids":["https://openalex.org/I4210133247","https://openalex.org/I45683168"],"apc_list":null,"apc_paid":null,"fwci":1.4053,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80953136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"39","issue":"4","first_page":"2842","last_page":"2860"},"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":0.9995999932289124,"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":0.998199999332428,"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/ranging","display_name":"Ranging","score":0.8565874099731445},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6601295471191406},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.591505229473114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5679223537445068},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5465573668479919},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5065613985061646},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49419286847114563},{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.4881647229194641},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.48145145177841187},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4723583161830902},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4389423131942749},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.43539857864379883},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4242335557937622},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3172357976436615},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28307870030403137},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22103101015090942},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19417089223861694},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.18246719241142273}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.8565874099731445},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6601295471191406},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.591505229473114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5679223537445068},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5465573668479919},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5065613985061646},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49419286847114563},{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.4881647229194641},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.48145145177841187},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4723583161830902},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4389423131942749},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.43539857864379883},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4242335557937622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3172357976436615},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28307870030403137},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22103101015090942},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19417089223861694},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.18246719241142273},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3263772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3263772","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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:publications.polymtl.ca:53602","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/53602/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article de revue"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6867486393","display_name":null,"funder_award_id":"RGPIN-5287-2018","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G704426617","display_name":null,"funder_award_id":"2018-PR-253646","funder_id":"https://openalex.org/F4320334841","funder_display_name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320334841","display_name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies","ror":"https://ror.org/00b9f9778"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W90692444","https://openalex.org/W250076511","https://openalex.org/W1485989371","https://openalex.org/W1489728659","https://openalex.org/W1502739482","https://openalex.org/W1506975760","https://openalex.org/W1521464635","https://openalex.org/W1522692516","https://openalex.org/W1542648184","https://openalex.org/W1603765807","https://openalex.org/W1788292158","https://openalex.org/W1851360830","https://openalex.org/W1966244759","https://openalex.org/W1974676331","https://openalex.org/W1983764986","https://openalex.org/W1988543519","https://openalex.org/W2001813029","https://openalex.org/W2011946889","https://openalex.org/W2027661541","https://openalex.org/W2065906444","https://openalex.org/W2074032690","https://openalex.org/W2104332709","https://openalex.org/W2110862165","https://openalex.org/W2114005163","https://openalex.org/W2114549813","https://openalex.org/W2128203095","https://openalex.org/W2140266441","https://openalex.org/W2159676467","https://openalex.org/W2161123599","https://openalex.org/W2161249924","https://openalex.org/W2164093442","https://openalex.org/W2167933251","https://openalex.org/W2171550868","https://openalex.org/W2745007981","https://openalex.org/W2755497859","https://openalex.org/W2805020273","https://openalex.org/W2809555803","https://openalex.org/W2890424173","https://openalex.org/W2962851675","https://openalex.org/W2963610759","https://openalex.org/W2968234549","https://openalex.org/W2970708857","https://openalex.org/W3105137572","https://openalex.org/W3207932997","https://openalex.org/W4206596317","https://openalex.org/W4210825123","https://openalex.org/W4238591275","https://openalex.org/W4251519580","https://openalex.org/W4252031641","https://openalex.org/W4254315244","https://openalex.org/W4300029251","https://openalex.org/W4300031234","https://openalex.org/W4312700632","https://openalex.org/W4399469378","https://openalex.org/W6603623380","https://openalex.org/W6629032753","https://openalex.org/W6734797129"],"related_works":["https://openalex.org/W3091773326","https://openalex.org/W2361508590","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729"],"abstract_inverted_index":{"In":[0,91],"robotic":[1,115],"networks":[2],"relying":[3],"on":[4,19,69,81],"noisy":[5],"range":[6],"measurements":[7],"between":[8,97],"agents":[9],"for":[10,61,123],"cooperative":[11,62],"localization,":[12],"the":[13,20,25,55,58,82,92,100,112,133,143,147,154],"achievable":[14,85],"positioning":[15],"accuracy":[16],"strongly":[17],"depends":[18],"network":[21,59],"geometry.":[22],"This":[23],"motivates":[24],"problem":[26],"of":[27,57,102,114,135,146],"planning":[28,46],"robot":[29,156],"trajectories":[30],"in":[31,35],"such":[32],"multirobot":[33],"systems":[34],"a":[36,77],"way":[37],"that":[38],"maintains":[39],"high":[40],"localization":[41],"accuracy.":[42],"We":[43,117,152],"present":[44],"potential-based":[45],"methods,":[47],"where":[48,139],"localizability":[49,136],"potentials":[50,66],"are":[51,67],"introduced":[52],"to":[53,110,131,137],"characterize":[54],"quality":[56],"geometry":[60],"position":[63,89],"estimation.":[64],"These":[65],"based":[68],"Cram\u00e9r":[70],"Rao":[71],"lower":[72,79],"bounds":[73],"(CRLB)":[74],"and":[75,99,126,162],"provide":[76],"theoretical":[78],"bound":[80],"error":[83],"covariance":[84],"by":[86],"any":[87],"unbiased":[88],"estimator.":[90],"process,":[93],"we":[94,127],"establish":[95],"connections":[96],"CRLBs":[98,130],"theory":[101],"graph":[103],"rigidity,":[104],"which":[105],"has":[106],"been":[107],"previously":[108],"used":[109],"plan":[111],"motion":[113],"networks.":[116],"develop":[118],"decentralized":[119],"deployment":[120,157],"algorithms":[121],"appropriate":[122],"large":[124],"networks,":[125],"use":[128],"equality-constrained":[129],"extend":[132],"concept":[134],"scenarios":[138],"additional":[140],"information":[141],"about":[142],"relative":[144],"positions":[145],"ranging":[148],"sensors":[149],"is":[150],"known.":[151],"illustrate":[153],"resulting":[155],"methodology":[158],"through":[159],"simulated":[160],"examples":[161],"an":[163],"experiment.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}