{"id":"https://openalex.org/W4206662040","doi":"https://doi.org/10.1109/tvt.2022.3143526","title":"LTrack: A LoRa-Based Indoor Tracking System for Mobile Robots","display_name":"LTrack: A LoRa-Based Indoor Tracking System for Mobile Robots","publication_year":2022,"publication_date":"2022-01-18","ids":{"openalex":"https://openalex.org/W4206662040","doi":"https://doi.org/10.1109/tvt.2022.3143526"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2022.3143526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3143526","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5103184725","display_name":"Kang Hu","orcid":"https://orcid.org/0000-0003-4814-6642"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Hu","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0003-4814-6642","affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074511454","display_name":"Chaojie Gu","orcid":"https://orcid.org/0000-0003-2153-811X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaojie Gu","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0003-2153-811X","affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100726041","display_name":"Jiming Chen","orcid":"https://orcid.org/0000-0003-3155-3145"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiming Chen","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0003-3155-3145","affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":3.2034,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.9283282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"71","issue":"4","first_page":"4264","last_page":"4276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12079","display_name":"IoT Networks and Protocols","score":0.9988999962806702,"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/T12079","display_name":"IoT Networks and Protocols","score":0.9988999962806702,"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/T12222","display_name":"IoT-based Smart Home Systems","score":0.9936000108718872,"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/T12801","display_name":"Bluetooth and Wireless Communication Technologies","score":0.9828000068664551,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.655543863773346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5321673154830933},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4708673059940338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.447637140750885},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4423283040523529},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4165402948856354},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.36389124393463135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25466859340667725},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.14045143127441406}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.655543863773346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5321673154830933},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4708673059940338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.447637140750885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4423283040523529},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4165402948856354},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.36389124393463135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25466859340667725},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.14045143127441406},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2022.3143526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3143526","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G645405385","display_name":null,"funder_award_id":"U20A20159","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W114517082","https://openalex.org/W1983301216","https://openalex.org/W2013503669","https://openalex.org/W2162002665","https://openalex.org/W2309512289","https://openalex.org/W2604855555","https://openalex.org/W2763377440","https://openalex.org/W2768262025","https://openalex.org/W2792312025","https://openalex.org/W2795166961","https://openalex.org/W2810871807","https://openalex.org/W2884645961","https://openalex.org/W2902468342","https://openalex.org/W2905847620","https://openalex.org/W2906903626","https://openalex.org/W2949590872","https://openalex.org/W2963629745","https://openalex.org/W2972429331","https://openalex.org/W2973010884","https://openalex.org/W2980722019","https://openalex.org/W2983426205","https://openalex.org/W2998196964","https://openalex.org/W2999811696","https://openalex.org/W3001044503","https://openalex.org/W3009748846","https://openalex.org/W3013167434","https://openalex.org/W3044663159","https://openalex.org/W3110234187","https://openalex.org/W3122598719","https://openalex.org/W3160130607","https://openalex.org/W3174504503","https://openalex.org/W3176379779","https://openalex.org/W3184837809","https://openalex.org/W3196616554","https://openalex.org/W6698302138","https://openalex.org/W6764424821","https://openalex.org/W6774301563"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W2394134009","https://openalex.org/W3114279067","https://openalex.org/W1971984615","https://openalex.org/W2046099857","https://openalex.org/W2806679586","https://openalex.org/W4315836311","https://openalex.org/W2393252924","https://openalex.org/W2787600244","https://openalex.org/W2186532442"],"abstract_inverted_index":{"The":[0,120,203],"robot\u2019s":[1],"mobility":[2],"and":[3,27,39,147,199,210,227,233],"intelligence":[4],"have":[5,183],"expanded":[6],"its":[7],"application":[8],"in":[9,23,43,49,99,115,128,207,230],"recent":[10],"years.":[11],"Specifically,":[12],"indoor":[13,212],"tracking":[14,31,57,165,219],"is":[15,133,205],"a":[16,55,70,94,105,161,192,196,200,221],"fundamental":[17],"function":[18],"of":[19,83,86,122,124,191,224],"public":[20],"service":[21],"robots":[22],"nursing":[24],"homes,":[25],"hospitals,":[26],"warehouses.":[28],"Existing":[29],"vision-based":[30],"requires":[32],"visual":[33],"information,":[34],"which":[35,189],"may":[36],"be":[37],"unavailable":[38],"introduce":[40],"privacy":[41],"issues":[42],"practical":[44],"deployment.":[45],"To":[46],"this":[47,50],"end,":[48],"paper,":[51],"we":[52,159],"propose$\\mathsf":[53],"{LTrack}$,":[54,188],"long-range":[56],"system":[58,204],"based":[59,154,167],"on":[60,155,168],"LoRa,":[61],"an":[62],"emerging":[63],"low-power":[64],"wide-area":[65],"networking":[66],"(LPWAN)":[67],"technology,":[68],"with":[69,135,220],"single":[71],"transceiver":[72],"pair.":[73],"Note":[74],"that":[75],"commodity":[76],"LoRa":[77,118,151,197],"devices":[78],"cannot":[79],"estimate":[80,140],"the":[81,100,111,116,129,136,141,149,169,175,179,185],"angle":[82],"arrival":[84],"(AoA)":[85],"signals":[87],"due":[88],"to":[89,109,139,173],"hardware":[90,107],"limitations.":[91],"We":[92,144,182],"design":[93],"virtual":[95],"circular":[96,130],"antenna":[97,131],"array":[98,132],"mobile":[101,163,193],"rotating":[102,137,194],"anchor":[103],"via":[104],"lightweight":[106],"modification":[108],"multiplex":[110],"only":[112],"RF":[113],"channel":[114],"low-cost":[117],"device.":[119],"difference":[121],"time":[123],"flight":[125],"(TDoF)":[126],"measured":[127],"fused":[134],"orientation":[138],"target":[142,164,180],"AoA.":[143],"also":[145],"redesign":[146],"optimize":[148],"primitive":[150],"ranging":[152],"engine":[153],"systematic":[156],"analysis.":[157],"Further,":[158],"present":[160],"real-time":[162],"algorithm":[166],"Doppler":[170],"frequency":[171],"shift":[172],"combat":[174],"uncertainty":[176],"introduced":[177],"by":[178],"movement.":[181],"developed":[184],"prototype":[186],"of$\\mathsf":[187],"consists":[190],"anchor,":[195],"tag,":[198],"commercial":[201],"robot.":[202],"evaluated":[206],"both":[208],"LOS":[209],"NOLS":[211],"scenarios.":[213],"Experiments":[214],"show":[215],"that$\\mathsf":[216],"{LTrack}$supports":[217],"robust":[218],"median":[222],"error":[223],"0.12":[225],"m":[226,229],"0.45":[228],"a$\\text{137}\\,\\text{m}^2$lab":[231],"space":[232],"a$\\text{600}\\,\\text{m}^2$corridor,":[234],"respectively.":[235]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
