{"id":"https://openalex.org/W7163039085","doi":"https://doi.org/10.1145/3812835.3814872","title":"Poster: Tight-Coupled TDoA and IMU Fusion for Mobile Robot Localization","display_name":"Poster: Tight-Coupled TDoA and IMU Fusion for Mobile Robot Localization","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163039085","doi":"https://doi.org/10.1145/3812835.3814872"},"language":null,"primary_location":{"id":"doi:10.1145/3812835.3814872","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3812835.3814872","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 24th Annual International Conference on Mobile Systems, Applications and Services Companion","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3812835.3814872","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137603475","display_name":"Sai Bharadwaj Sirigadi","orcid":"https://orcid.org/0000-0001-9310-1238"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sai Bharadwaj Sirigadi","raw_affiliation_strings":["University at Buffalo, Buffalo, USA"],"raw_orcid":"https://orcid.org/0000-0001-9310-1238","affiliations":[{"raw_affiliation_string":"University at Buffalo, Buffalo, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137381150","display_name":"Roshan Ayyalasomayajula","orcid":"https://orcid.org/0000-0002-4069-8429"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roshan Ayyalasomayajula","raw_affiliation_strings":["University at Buffalo, Buffalo, USA"],"raw_orcid":"https://orcid.org/0000-0002-4069-8429","affiliations":[{"raw_affiliation_string":"University at Buffalo, Buffalo, USA","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.82949255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"45","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.7398999929428101,"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":0.7398999929428101,"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":0.04129999876022339,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.03920000046491623,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.7968000173568726},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.777899980545044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6179999709129333},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.5906999707221985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5636000037193298},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5218999981880188},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.460999995470047},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4278999865055084}],"concepts":[{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.7968000173568726},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.777899980545044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6333000063896179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6288999915122986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6179999709129333},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.5906999707221985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5636000037193298},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5218999981880188},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48750001192092896},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.460999995470047},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4278999865055084},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3862999975681305},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34290000796318054},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3359000086784363},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29660001397132874},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2662000060081482},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26409998536109924},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C80023036","wikidata":"https://www.wikidata.org/wiki/Q5147531","display_name":"Collocation (remote sensing)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.25699999928474426},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3812835.3814872","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3812835.3814872","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 24th Annual International Conference on Mobile Systems, Applications and Services Companion","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3812835.3814872","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3812835.3814872","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 24th Annual International Conference on Mobile Systems, Applications and Services Companion","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1999933558","https://openalex.org/W2120350100","https://openalex.org/W2482726005","https://openalex.org/W2969031084","https://openalex.org/W4392667258"],"related_works":[],"abstract_inverted_index":{"Resource":[0],"constrained":[1],"robots":[2,38,65],"have":[3,58,76],"immense":[4],"potential":[5],"in":[6,9,83],"autonomous":[7,21,37],"exploration":[8],"the":[10,24,64,90,108,128,141],"wild":[11],"for":[12,53,89,102],"dull,":[13],"dirty,":[14],"and":[15,46,95,99,136],"dangerous":[16],"tasks.":[17],"To":[18],"enable":[19],"such":[20],"robotic":[22],"deployments,":[23],"primary":[25],"limitation":[26],"is":[27],"reliability":[28],"on":[29,79],"minimalist":[30],"sensors.":[31],"So,":[32,82],"we":[33,75,86],"aim":[34,87],"to":[35,69,77],"develop":[36,93],"that":[39,126],"repurpose":[40],"Wi-Fi":[41],"chipsets":[42],"as":[43,111,124],"localization":[44,109],"sensors":[45],"fuse":[47],"their":[48],"measurements":[49,121],"with":[50],"IMU":[51,100],"data":[52],"navigation.":[54],"While":[55],"it":[56],"would":[57],"been":[59],"an":[60],"easier":[61],"task":[62],"if":[63],"had":[66],"multiple":[67],"antennas,":[68],"perform":[70],"single":[71],"antenna":[72],"based":[73],"navigation,":[74],"rely":[78],"TDoA":[80,98,120],"measurements.":[81],"this":[84],"project,":[85],"to,":[88],"first":[91],"time,":[92],"robust":[94],"tightly":[96],"coupled":[97],"fusion":[101],"mobile":[103],"robot":[104],"localization.":[105],"We":[106],"formulate":[107],"problem":[110],"a":[112,116],"nonlinear":[113],"optimization":[114],"over":[115],"factor":[117],"graph,":[118],"where":[119],"are":[122],"incorporated":[123],"factors":[125],"constrain":[127],"solution":[129],"space.":[130],"Simulation":[131],"results":[132],"demonstrate":[133],"consistent":[134],"convergence":[135],"accurate":[137],"state":[138],"estimation":[139],"under":[140],"proposed":[142],"framework.":[143]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-06-02T00:00:00"}