{"id":"https://openalex.org/W4387682275","doi":"https://doi.org/10.1109/tro.2023.3324127","title":"A Robot Web for Distributed Many-Device Localization","display_name":"A Robot Web for Distributed Many-Device Localization","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4387682275","doi":"https://doi.org/10.1109/tro.2023.3324127"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3324127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3324127","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/A5020134872","display_name":"Riku Murai","orcid":"https://orcid.org/0000-0002-0221-1392"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Riku Murai","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002877628","display_name":"Joseph Ortiz","orcid":"https://orcid.org/0000-0002-9828-0754"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joseph Ortiz","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047941621","display_name":"Sajad Saeedi","orcid":"https://orcid.org/0000-0002-6385-6127"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sajad Saeedi","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Toronto Metropolitan University, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Toronto Metropolitan University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000319133","display_name":"Paul H. J. Kelly","orcid":"https://orcid.org/0000-0001-5905-1804"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul H. J. Kelly","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101665482","display_name":"Andrew J. Davison","orcid":"https://orcid.org/0000-0002-3784-099X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew J. Davison","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5020134872"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":2.9883,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91465502,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"121","last_page":"138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.6634758710861206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6010750532150269},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4639989733695984},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4216376543045044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39200881123542786},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35990554094314575}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6634758710861206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6010750532150269},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4639989733695984},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4216376543045044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39200881123542786},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35990554094314575}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3324127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3324127","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G216287163","display_name":"PAMELA: a Panoramic Approach to the Many-CorE LAndsape - from end-user to end-device: a holistic game-changing approach","funder_award_id":"EP/K008730/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2784140359","display_name":"Application Customisation: Enhancing Design Quality and Developer Productivity","funder_award_id":"EP/P010040/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6368762450","display_name":null,"funder_award_id":"EP/K008730/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G774180880","display_name":null,"funder_award_id":"EP/P010040/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1536617987","https://openalex.org/W1964591239","https://openalex.org/W1968315983","https://openalex.org/W1970733706","https://openalex.org/W2011897632","https://openalex.org/W2012197287","https://openalex.org/W2021851106","https://openalex.org/W2033002530","https://openalex.org/W2040134986","https://openalex.org/W2046918204","https://openalex.org/W2054442768","https://openalex.org/W2063091579","https://openalex.org/W2096300742","https://openalex.org/W2097064869","https://openalex.org/W2105077725","https://openalex.org/W2109271936","https://openalex.org/W2125188427","https://openalex.org/W2125543527","https://openalex.org/W2131231676","https://openalex.org/W2135019998","https://openalex.org/W2141775911","https://openalex.org/W2152422184","https://openalex.org/W2153054365","https://openalex.org/W2154596686","https://openalex.org/W2164991395","https://openalex.org/W2170049866","https://openalex.org/W2547811925","https://openalex.org/W2593712938","https://openalex.org/W2614952633","https://openalex.org/W2745007981","https://openalex.org/W2746349752","https://openalex.org/W2752031649","https://openalex.org/W2902093375","https://openalex.org/W2963479576","https://openalex.org/W2976722701","https://openalex.org/W3002818939","https://openalex.org/W3009182881","https://openalex.org/W3012089996","https://openalex.org/W3043254872","https://openalex.org/W3118408399","https://openalex.org/W3160440378","https://openalex.org/W3169707058","https://openalex.org/W3180526717","https://openalex.org/W3194332337","https://openalex.org/W3200883446","https://openalex.org/W3206707024","https://openalex.org/W4200200540","https://openalex.org/W4205599754","https://openalex.org/W4212926765","https://openalex.org/W4280571816","https://openalex.org/W4287257387","https://openalex.org/W4289145348","https://openalex.org/W4300938688","https://openalex.org/W4312691966","https://openalex.org/W4320481153","https://openalex.org/W6633434192","https://openalex.org/W6683932008","https://openalex.org/W6769968715","https://openalex.org/W6791840850","https://openalex.org/W6798252091"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W4288076938","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,72,97],"show":[1,98],"that":[2,110,163],"a":[3,74,120,149],"distributed":[4,130],"network":[5],"of":[6,14,49,51,58,67,89,132,139,152],"robots":[7,54,105,169],"or":[8,57,70,92,156],"other":[9,16,93],"devices":[10],"which":[11,80],"make":[12,55],"measurements":[13,155],"each":[15,59],"can":[17,81],"collaborate":[18],"to":[19,103,148],"globally":[20],"localize":[21],"via":[22],"efficient":[23,77],"ad":[24],"hoc":[25],"peer-to-peer":[26],"communication.":[27,135],"Our":[28],"Robot":[29],"Web":[30],"solution":[31,112],"is":[32,62,146],"based":[33],"on":[34,39,167],"Gaussian":[35],"belief":[36],"propagation":[37],"(GBP)":[38],"the":[40,46,52,85,137,164],"fundamental":[41],"nonlinear":[42,122],"factor":[43,123],"graph":[44,124],"describing":[45],"probabilistic":[47],"structure":[48],"all":[50],"observations":[53],"internally":[56],"other,":[60],"and":[61,76,87,134],"flexible":[63],"for":[64],"any":[65],"type":[66],"robot,":[68],"motion":[69],"sensor.":[71],"define":[73],"simple":[75],"communication":[78,95,158],"protocol":[79],"be":[82],"implemented":[83],"by":[84],"publishing":[86],"reading":[88],"web":[90],"pages":[91],"asynchronous":[94],"technologies.":[96],"in":[99,107,142],"simulations":[100],"with":[101,128,170],"up":[102],"1000":[104],"interacting":[106],"arbitrary":[108],"patterns":[109],"our":[111,144],"convergently":[113],"achieves":[114],"global":[115],"accuracy":[116],"as":[117,119],"accurate":[118],"centralized":[121],"solver":[125],"while":[126],"operating":[127],"high":[129,150],"efficiency":[131],"computation":[133],"Via":[136],"use":[138],"robust":[140],"factors":[141],"GBP,":[143],"method":[145],"tolerant":[147],"percentage":[151],"faulty":[153],"sensor":[154],"dropped":[157],"packets.":[159],"Furthermore,":[160],"we":[161],"showcase":[162],"system":[165],"operates":[166],"real":[168],"limited":[171],"onboard":[172],"computational":[173],"resources.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2023-10-17T00:00:00"}