{"id":"https://openalex.org/W4401750466","doi":"https://doi.org/10.1177/01423312241267042","title":"A new resampling algorithm for particle filters and its application in global localization within symmetric environments","display_name":"A new resampling algorithm for particle filters and its application in global localization within symmetric environments","publication_year":2024,"publication_date":"2024-08-22","ids":{"openalex":"https://openalex.org/W4401750466","doi":"https://doi.org/10.1177/01423312241267042"},"language":"en","primary_location":{"id":"doi:10.1177/01423312241267042","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241267042","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04675915/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081891658","display_name":"Seif Eddine Seghiri","orcid":null},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]},{"id":"https://openalex.org/I4391767747","display_name":"University of Constantine 3","ror":"https://ror.org/04wk25q62","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4391767747"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Seif Eddine Seghiri","raw_affiliation_strings":["LARC, University of Constantine 1, Algeria"],"raw_orcid":"https://orcid.org/0000-0001-6815-2690","affiliations":[{"raw_affiliation_string":"LARC, University of Constantine 1, Algeria","institution_ids":["https://openalex.org/I125485651","https://openalex.org/I4391767747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112370148","display_name":"Noura Mansouri","orcid":"https://orcid.org/0000-0002-4838-5216"},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]},{"id":"https://openalex.org/I4391767747","display_name":"University of Constantine 3","ror":"https://ror.org/04wk25q62","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4391767747"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Noura Mansouri","raw_affiliation_strings":["LARC, University of Constantine 1, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LARC, University of Constantine 1, Algeria","institution_ids":["https://openalex.org/I125485651","https://openalex.org/I4391767747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chemori","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5081891658"],"corresponding_institution_ids":["https://openalex.org/I125485651","https://openalex.org/I4391767747"],"apc_list":{"value":4150,"currency":"USD","value_usd":4150},"apc_paid":null,"fwci":0.233,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64218823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"47","issue":"14","first_page":"2869","last_page":"2882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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/particle-filter","display_name":"Particle filter","score":0.7872014045715332},{"id":"https://openalex.org/keywords/resampling","display_name":"Resampling","score":0.7637131214141846},{"id":"https://openalex.org/keywords/auxiliary-particle-filter","display_name":"Auxiliary particle filter","score":0.6235228180885315},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5925464034080505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47513893246650696},{"id":"https://openalex.org/keywords/particle","display_name":"Particle (ecology)","score":0.46934664249420166},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3830322027206421},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3544970154762268},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.31352442502975464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18785050511360168},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.11978453397750854},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10029640793800354},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.06850370764732361}],"concepts":[{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7872014045715332},{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.7637131214141846},{"id":"https://openalex.org/C52483021","wikidata":"https://www.wikidata.org/wiki/Q4827310","display_name":"Auxiliary particle filter","level":5,"score":0.6235228180885315},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5925464034080505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47513893246650696},{"id":"https://openalex.org/C2778517922","wikidata":"https://www.wikidata.org/wiki/Q7140482","display_name":"Particle (ecology)","level":2,"score":0.46934664249420166},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3830322027206421},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3544970154762268},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.31352442502975464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18785050511360168},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.11978453397750854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10029640793800354},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.06850370764732361},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/01423312241267042","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241267042","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"},{"id":"pmh:oai:HAL:lirmm-04675915v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04675915","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04675915/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Transactions of the Institute of Measurement and Control, 2025, 47 (14), pp.2869-2882. ⟨10.1177/01423312241267042⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-04675915v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04675915","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04675915/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Transactions of the Institute of Measurement and Control, 2025, 47 (14), pp.2869-2882. ⟨10.1177/01423312241267042⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401750466.pdf","grobid_xml":"https://content.openalex.org/works/W4401750466.grobid-xml"},"referenced_works_count":65,"referenced_works":["https://openalex.org/W368799245","https://openalex.org/W1484387568","https://openalex.org/W1577509784","https://openalex.org/W1932940155","https://openalex.org/W1979397122","https://openalex.org/W2011754354","https://openalex.org/W2040196349","https://openalex.org/W2055936398","https://openalex.org/W2057487175","https://openalex.org/W2066798676","https://openalex.org/W2073117938","https://openalex.org/W2077611006","https://openalex.org/W2082542916","https://openalex.org/W2092198389","https://openalex.org/W2098613108","https://openalex.org/W2104524378","https://openalex.org/W2119539043","https://openalex.org/W2126736494","https://openalex.org/W2136906136","https://openalex.org/W2141585124","https://openalex.org/W2148557232","https://openalex.org/W2153000379","https://openalex.org/W2155971774","https://openalex.org/W2160337655","https://openalex.org/W2161774902","https://openalex.org/W2165848869","https://openalex.org/W2167878366","https://openalex.org/W2170903322","https://openalex.org/W2213585984","https://openalex.org/W2262122146","https://openalex.org/W2271361270","https://openalex.org/W2511836859","https://openalex.org/W2613433911","https://openalex.org/W2616459087","https://openalex.org/W2763504571","https://openalex.org/W2791994378","https://openalex.org/W2805119484","https://openalex.org/W2916605640","https://openalex.org/W2940922269","https://openalex.org/W2949499893","https://openalex.org/W3011770331","https://openalex.org/W3037467553","https://openalex.org/W3042698810","https://openalex.org/W3087114004","https://openalex.org/W3107593363","https://openalex.org/W3107911425","https://openalex.org/W3117054720","https://openalex.org/W3119239127","https://openalex.org/W3124602784","https://openalex.org/W3133993667","https://openalex.org/W3134372643","https://openalex.org/W3135043135","https://openalex.org/W3135773817","https://openalex.org/W3136363056","https://openalex.org/W3165441604","https://openalex.org/W3204526287","https://openalex.org/W3210967620","https://openalex.org/W4200126003","https://openalex.org/W4214550938","https://openalex.org/W4230472026","https://openalex.org/W4310022425","https://openalex.org/W4310153701","https://openalex.org/W4388475847","https://openalex.org/W4393374194","https://openalex.org/W4396571420"],"related_works":["https://openalex.org/W3144709167","https://openalex.org/W1824810860","https://openalex.org/W2368144031","https://openalex.org/W2355962871","https://openalex.org/W2162253570","https://openalex.org/W2758742130","https://openalex.org/W2126226614","https://openalex.org/W2406829934","https://openalex.org/W2862160893","https://openalex.org/W2376126247"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"are":[2,111,120,139],"undergoing":[3],"tremendous":[4],"development,":[5],"which":[6,43],"makes":[7],"them":[8],"employed":[9],"in":[10,18,92,125,142,194,204],"many":[11],"fields.":[12],"In":[13,51],"this":[14,52,109],"area,":[15],"global":[16,171],"localization":[17,172],"symmetric":[19],"indoor":[20],"environments":[21],"is":[22,36,44,80,89,173,180,199],"a":[23,56,83,96,159,200],"commonly":[24,30],"encountered":[25],"problem.":[26],"One":[27],"of":[28,99,105,144,202,208],"the":[29,37,47,63,101,106,131,177,205,209],"used":[31,61],"algorithms":[32,186],"to":[33,115,154,183],"solve":[34],"it,":[35],"Adaptive":[38,64],"Monte":[39,65],"Carlo":[40,66],"Localization":[41,67],"(AMCL),":[42],"based":[45,81],"on":[46,82],"particle":[48],"filter":[49],"algorithm.":[50],"paper,":[53],"we":[54,71],"developed":[55],"new":[57],"algorithm":[58,79,179],"for":[59],"resampling":[60,145,156,185],"within":[62],"(AMCL)":[68],"framework":[69],"that":[70,187],"called":[72],"Effective":[73],"Samples":[74],"Resampling":[75],"(ESR).":[76],"The":[77,136,170],"proposed":[78,178],"deterministic":[84],"sample":[85],"selection,":[86],"and":[87,103,113,123,149,192],"it":[88],"thoroughly":[90],"tested":[91,122],"real":[93],"time.":[94],"Using":[95],"considerable":[97],"amount":[98],"simulations,":[100],"efficacy":[102],"robustness":[104],"AMCL":[107],"using":[108,130],"technique":[110],"validated":[112,124],"compared":[114,153,182],"certain":[116],"conventional":[117],"approaches.":[118],"They":[119],"also":[121],"various":[126],"real-time":[127],"operating":[128],"conditions":[129],"Robot":[132],"Operating":[133],"System":[134],"(ROS).":[135],"obtained":[137],"results":[138],"quite":[140],"satisfying":[141],"terms":[143],"quality,":[146],"implementation":[147],"complexity,":[148],"convergence":[150],"time":[151],"when":[152,176,197],"random":[155],"approaches":[157],"where":[158],"sample-based":[160],"probability":[161],"density":[162],"given":[163],"by":[164],"high-quality":[165],"sensors":[166],"might":[167],"destabilize":[168],"localization.":[169],"well":[174],"handled":[175],"involved,":[181],"standard":[184],"can":[188],"often":[189],"be":[190],"overconfident":[191],"fail":[193],"some":[195],"scenarios":[196],"there":[198],"lot":[201],"symmetry":[203],"considered":[206],"map":[207],"environment.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}