{"id":"https://openalex.org/W3215997358","doi":"https://doi.org/10.1109/tvlsi.2021.3100252","title":"Ultralow-Power Localization of Insect-Scale Drones: Interplay of Probabilistic Filtering and Compute-in-Memory","display_name":"Ultralow-Power Localization of Insect-Scale Drones: Interplay of Probabilistic Filtering and Compute-in-Memory","publication_year":2021,"publication_date":"2021-08-05","ids":{"openalex":"https://openalex.org/W3215997358","doi":"https://doi.org/10.1109/tvlsi.2021.3100252","mag":"3215997358"},"language":"en","primary_location":{"id":"doi:10.1109/tvlsi.2021.3100252","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tvlsi.2021.3100252","pdf_url":"https://ieeexplore.ieee.org/ielx7/92/9686552/09508123.pdf","source":{"id":"https://openalex.org/S37538908","display_name":"IEEE Transactions on Very Large Scale Integration (VLSI) Systems","issn_l":"1063-8210","issn":["1063-8210","1557-9999"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Very Large Scale Integration (VLSI) Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/92/9686552/09508123.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067601336","display_name":"Priyesh Shukla","orcid":"https://orcid.org/0000-0002-9868-8944"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Priyesh Shukla","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-9868-8944","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005116302","display_name":"Ankith Muralidhar","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankith Muralidhar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019316243","display_name":"Nick Iliev","orcid":"https://orcid.org/0000-0001-9645-3810"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nick Iliev","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062751346","display_name":"Theja Tulabandhula","orcid":"https://orcid.org/0000-0001-9111-7519"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]},{"id":"https://openalex.org/I4210133369","display_name":"Decision Sciences (United States)","ror":"https://ror.org/03gcvf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210133369"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Theja Tulabandhula","raw_affiliation_strings":["Department of Information and Decision Sciences, University of Illinois at Chicago, Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Decision Sciences, University of Illinois at Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I39422238","https://openalex.org/I4210133369"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103034519","display_name":"Sawyer B. Fuller","orcid":"https://orcid.org/0000-0001-6732-6791"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sawyer B. Fuller","raw_affiliation_strings":["Department of Mechanical Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6732-6791","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028132107","display_name":"Amit Ranjan Trivedi","orcid":"https://orcid.org/0000-0001-5436-7922"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit Ranjan Trivedi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0001-5436-7922","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.9836,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98952233,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"30","issue":"1","first_page":"68","last_page":"80"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983999729156494,"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":0.9980000257492065,"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/computer-science","display_name":"Computer science","score":0.561759352684021},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.5569620728492737},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5509815812110901},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4797571897506714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33747148513793945}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.561759352684021},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.5569620728492737},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5509815812110901},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4797571897506714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33747148513793945},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvlsi.2021.3100252","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tvlsi.2021.3100252","pdf_url":"https://ieeexplore.ieee.org/ielx7/92/9686552/09508123.pdf","source":{"id":"https://openalex.org/S37538908","display_name":"IEEE Transactions on Very Large Scale Integration (VLSI) Systems","issn_l":"1063-8210","issn":["1063-8210","1557-9999"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Very Large Scale Integration (VLSI) Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tvlsi.2021.3100252","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tvlsi.2021.3100252","pdf_url":"https://ieeexplore.ieee.org/ielx7/92/9686552/09508123.pdf","source":{"id":"https://openalex.org/S37538908","display_name":"IEEE Transactions on Very Large Scale Integration (VLSI) Systems","issn_l":"1063-8210","issn":["1063-8210","1557-9999"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Very Large Scale Integration (VLSI) Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8657564338","display_name":"CAREER: Robust and Ultra-low-power Spatial Intelligence","funder_award_id":"2046435","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3215997358.pdf","grobid_xml":"https://content.openalex.org/works/W3215997358.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W1479814506","https://openalex.org/W1494192115","https://openalex.org/W1518672027","https://openalex.org/W1567512734","https://openalex.org/W1577509784","https://openalex.org/W1980584607","https://openalex.org/W1985690171","https://openalex.org/W1986918951","https://openalex.org/W1992985704","https://openalex.org/W2029667158","https://openalex.org/W2035155402","https://openalex.org/W2056898157","https://openalex.org/W2068563654","https://openalex.org/W2068766249","https://openalex.org/W2069345435","https://openalex.org/W2073700113","https://openalex.org/W2103959917","https://openalex.org/W2114164522","https://openalex.org/W2115772460","https://openalex.org/W2118249063","https://openalex.org/W2120143168","https://openalex.org/W2131805104","https://openalex.org/W2141585124","https://openalex.org/W2152864241","https://openalex.org/W2155971774","https://openalex.org/W2157687163","https://openalex.org/W2336416123","https://openalex.org/W2339460208","https://openalex.org/W2498392428","https://openalex.org/W2559489697","https://openalex.org/W2781094305","https://openalex.org/W2791359478","https://openalex.org/W2889774534","https://openalex.org/W2891677407","https://openalex.org/W2901988317","https://openalex.org/W2908633185","https://openalex.org/W2940459376","https://openalex.org/W2945925916","https://openalex.org/W2947640655","https://openalex.org/W2950007612","https://openalex.org/W2955102412","https://openalex.org/W2963024893","https://openalex.org/W2963081068","https://openalex.org/W2967115342","https://openalex.org/W2968034511","https://openalex.org/W3016328983","https://openalex.org/W3034147479","https://openalex.org/W3037010467","https://openalex.org/W3090581962","https://openalex.org/W3098064904","https://openalex.org/W3116307730","https://openalex.org/W3170790694","https://openalex.org/W4240928542","https://openalex.org/W6680173660","https://openalex.org/W6772248171"],"related_works":["https://openalex.org/W4220882927","https://openalex.org/W4290792893","https://openalex.org/W3197607112","https://openalex.org/W3101676691","https://openalex.org/W4312959403","https://openalex.org/W2145784191","https://openalex.org/W1988628477","https://openalex.org/W1556380962","https://openalex.org/W2784732625","https://openalex.org/W1990509243"],"abstract_inverted_index":{"We":[0,158,235],"propose":[1,140],"a":[2,16,28,58,122,136,141,149,166,176],"novel":[3,142],"compute-in-memory":[4],"(CIM)-based":[5],"ultralow-power":[6],"framework":[7,143,248],"for":[8,19,184,269],"probabilistic":[9,45],"localization":[10,46,83,102,130,186,247],"of":[11,57,66,79,117,129,144,152,165,175,203,220,226,232],"insect-scale":[12,93,133],"drones.":[13,272],"Localization":[14],"is":[15,30,69,89,249],"critical":[17],"subroutine":[18],"path":[20],"planning":[21],"and":[22,38,75],"rotor":[23],"control":[24],"in":[25,40,131,196],"drones,":[26],"where":[27],"drone":[29,119,134,185],"required":[31],"to":[32,72,121,217],"continuously":[33],"estimate":[34],"its":[35],"pose":[36],"(position":[37],"orientation)":[39],"flying":[41,113],"space.":[42],"The":[43,245],"conventional":[44],"approaches":[47],"rely":[48],"on":[49,240],"the":[50,77,80,118,126,153,172,180,201,204,212,218,221,223,227,230,233,260,267],"3-D":[51,59,145,205],"Gaussian":[52],"mixture":[53,67,155],"model":[54,63,207],"(GMM)-based":[55],"representation":[56,147],"map.":[60,81],"A":[61],"GMM":[62,86,104],"with":[64,200],"hundreds":[65],"functions":[68],"typically":[70],"needed":[71],"adequately":[73],"learn":[74],"represent":[76],"intricacies":[78],"Meanwhile,":[82],"using":[84,103,135,148],"complex":[85],"map":[87,146,206],"models":[88,105],"computationally":[90],"intensive.":[91],"Since":[92],"drones":[94],"operate":[95],"under":[96],"extremely":[97],"limited":[98],"area/power":[99],"budget,":[100],"continuous":[101],"entails":[106],"much":[107],"higher":[108],"operating":[109],"energy,":[110],"thereby":[111],"limiting":[112],"duration":[114],"and/or":[115],"size":[116],"due":[120],"larger":[123],"battery.":[124],"Addressing":[125],"computational":[127],"challenges":[128],"an":[132,241],"CIM":[137],"approach,":[138],"we":[139],"harmonic":[150,173],"mean":[151,174],"\u201cGaussian-like\u201d":[154],"(HMGM)":[156],"model.":[157],"show":[159],"that":[160],"<italic":[161],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[162,251],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">short-circuit":[163],"current</i>":[164],"multiinput":[167,194],"floating-gate":[168],"CMOS-based":[169],"inverter":[170],"follows":[171],"Gaussian-like":[177],"function.":[178],"Therefore,":[179],"likelihood":[181,231],"function":[182],"useful":[183],"can":[187],"be":[188],"efficiently":[189],"implemented":[190],"by":[191],"connecting":[192],"many":[193],"inverters":[195,228],"parallel,":[197],"each":[198],"programmed":[199],"parameters":[202],"represented":[208],"as":[209],"HMGM.":[210],"When":[211],"depth":[213],"measurements":[214],"are":[215],"projected":[216],"input":[219],"implementation,":[222],"summed":[224],"current":[225],"emulates":[229],"measurement.":[234],"have":[236],"characterized":[237],"our":[238],"approach":[239],"RGB-D":[242],"scenes":[243],"dataset.":[244],"proposed":[246],"<inline-formula":[250],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[252],"<tex-math":[253],"notation=\"LaTeX\">$\\sim":[254],"25\\times":[255],"$":[256],"</tex-math></inline-formula>":[257],"energy-efficient":[258],"than":[259],"traditional,":[261],"8-bit":[262],"digital":[263],"GMM-based":[264],"processor":[265],"paving":[266],"way":[268],"tiny":[270],"autonomous":[271]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
