{"id":"https://openalex.org/W4400111054","doi":"https://doi.org/10.1109/tro.2024.3420798","title":"How Safe Is Particle Filtering-Based Localization for Mobile Robots? An Integrity Monitoring Approach","display_name":"How Safe Is Particle Filtering-Based Localization for Mobile Robots? An Integrity Monitoring Approach","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400111054","doi":"https://doi.org/10.1109/tro.2024.3420798"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3420798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3420798","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":["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/A5071975414","display_name":"Osama Abdul Hafez","orcid":"https://orcid.org/0000-0002-2436-6934"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Osama Abdul Hafez","raw_affiliation_strings":["Robotics Lab of the Materials, Mechanical, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-2436-6934","affiliations":[{"raw_affiliation_string":"Robotics Lab of the Materials, Mechanical, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055276363","display_name":"Mathieu Joerger","orcid":"https://orcid.org/0000-0002-6391-9095"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mathieu Joerger","raw_affiliation_strings":["Assured Vehicle Autonomy (AVA) Lab, Department of Aerospace and Ocean Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6391-9095","affiliations":[{"raw_affiliation_string":"Assured Vehicle Autonomy (AVA) Lab, Department of Aerospace and Ocean Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077307223","display_name":"Matthew Spenko","orcid":"https://orcid.org/0000-0001-6483-5339"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Spenko","raw_affiliation_strings":["Robotics Lab of the Materials, Mechanical, and Aerospace Engineering Department, Illinois Institute of Technology (IIT), Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-6483-5339","affiliations":[{"raw_affiliation_string":"Robotics Lab of the Materials, Mechanical, and Aerospace Engineering Department, Illinois Institute of Technology (IIT), Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.1397,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98508919,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"3372","last_page":"3387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9908999800682068,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9908999800682068,"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/T12288","display_name":"Optimization and Search Problems","score":0.9779000282287598,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9715999960899353,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7128644585609436},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6674980521202087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5603015422821045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5426793694496155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4896400570869446},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46151256561279297},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2198256552219391}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7128644585609436},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6674980521202087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5603015422821045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5426793694496155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4896400570869446},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46151256561279297},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2198256552219391}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3420798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3420798","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1558685142","https://openalex.org/W1587957970","https://openalex.org/W1973131250","https://openalex.org/W1999881999","https://openalex.org/W2013907198","https://openalex.org/W2027055074","https://openalex.org/W2056298239","https://openalex.org/W2059068775","https://openalex.org/W2071534836","https://openalex.org/W2074281461","https://openalex.org/W2080647722","https://openalex.org/W2115126368","https://openalex.org/W2119398235","https://openalex.org/W2121699695","https://openalex.org/W2141026532","https://openalex.org/W2158090912","https://openalex.org/W2336416123","https://openalex.org/W2414542138","https://openalex.org/W2525936901","https://openalex.org/W2567937506","https://openalex.org/W2753772285","https://openalex.org/W2773933661","https://openalex.org/W2794149315","https://openalex.org/W2796291475","https://openalex.org/W2888687990","https://openalex.org/W2890530211","https://openalex.org/W2890897099","https://openalex.org/W2905367632","https://openalex.org/W2948273655","https://openalex.org/W2964220950","https://openalex.org/W2967265204","https://openalex.org/W2968403501","https://openalex.org/W2968549433","https://openalex.org/W2968829478","https://openalex.org/W2973258311","https://openalex.org/W2976290707","https://openalex.org/W2979172579","https://openalex.org/W2979445798","https://openalex.org/W3008065677","https://openalex.org/W3035458746","https://openalex.org/W3092550853","https://openalex.org/W3094352759","https://openalex.org/W3104290757","https://openalex.org/W3105134469","https://openalex.org/W3130016539","https://openalex.org/W3130106235","https://openalex.org/W4200179879","https://openalex.org/W4386571105","https://openalex.org/W4391179633","https://openalex.org/W4396941581","https://openalex.org/W6633654525","https://openalex.org/W6678134025","https://openalex.org/W6791404501"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Deriving":[0],"safe":[1],"bounds":[2],"on":[3],"particle":[4,51,157,170],"filter":[5,158,171],"estimate":[6,65],"is":[7,24,57,134,159,172],"a":[8,21,41,47],"research":[9],"problem":[10],"that,":[11,151],"if":[12],"solved,":[13],"could":[14],"greatly":[15],"benefit":[16],"robots":[17,30],"in":[18,93],"life-critical":[19],"applications,":[20],"field":[22],"that":[23,79,120],"facing":[25],"increasing":[26],"interest":[27],"as":[28,59,123,127,129],"more":[29],"are":[31,144,154,167],"being":[32],"deployed":[33],"near":[34],"humans.":[35],"In":[36,87],"response,":[37],"this":[38,88],"article":[39],"introduces":[40],"new":[42],"fault":[43],"detector":[44],"and":[45,107,141],"derives":[46],"performance":[48],"measure":[49],"for":[50],"filter:":[52],"integrity":[53],"risk.":[54],"Integrity":[55],"risk":[56],"defined":[58],"the":[60,90,94,102,110,113,130,138,142,148],"probability":[61],"of":[62,96,112,132],"having":[63],"large":[64],"errors":[66,78],"without":[67],"triggering":[68],"an":[69],"alarm,":[70],"all":[71],"while":[72],"considering":[73],"measurement":[74],"faults,":[75],"unknown":[76],"deterministic":[77],"cannot":[80],"be":[81],"modeled":[82],"via":[83],"normal":[84],"white":[85],"noise.":[86],"work,":[89],"faults":[91],"come":[92],"form":[95],"incorrectly":[97],"associated":[98],"features":[99],"when":[100,152,165],"using":[101],"local":[103],"nearest":[104],"neighbors.":[105],"Simulations":[106],"experiments":[108],"assess":[109],"efficiency":[111],"introduced":[114],"safety":[115,121],"metric.":[116],"The":[117],"results":[118,149],"show":[119],"improves":[122],"map":[124],"density":[125],"increases":[126],"long":[128],"number":[131],"particles":[133],"sufficient":[135],"to":[136],"shape":[137],"error":[139],"distribution":[140],"landmarks":[143,153,166],"well":[145,168],"separated.":[146],"Also,":[147],"indicate":[150],"poorly":[155],"separated,":[156,169],"safer":[160,177],"than":[161,178],"Kalman":[162,179],"filter,":[163],"whereas,":[164],"often,":[173],"but":[174],"not":[175],"always,":[176],"filter.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}
