{"id":"https://openalex.org/W2090219750","doi":"https://doi.org/10.1177/0278364913495425","title":"Mutual localization in multi-robot systems using anonymous relative measurements","display_name":"Mutual localization in multi-robot systems using anonymous relative measurements","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2090219750","doi":"https://doi.org/10.1177/0278364913495425","mag":"2090219750"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913495425","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913495425","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","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/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["Max Plank Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Plank Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026897459","display_name":"Paolo Stegagno","orcid":"https://orcid.org/0000-0003-1241-5732"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Stegagno","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001771133"],"corresponding_institution_ids":["https://openalex.org/I4210112925"],"apc_list":null,"apc_paid":null,"fwci":139.8656,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99892022,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"32","issue":"11","first_page":"1302","last_page":"1322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9962000250816345,"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/T12288","display_name":"Optimization and Search Problems","score":0.9937999844551086,"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/robot","display_name":"Robot","score":0.7212650775909424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485652327537537},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6413530111312866},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.5933188796043396},{"id":"https://openalex.org/keywords/false-positive-paradox","display_name":"False positive paradox","score":0.5565881133079529},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5097464919090271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5078030228614807},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4800592362880707},{"id":"https://openalex.org/keywords/false-positives-and-false-negatives","display_name":"False positives and false negatives","score":0.46796971559524536},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45152702927589417}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7212650775909424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485652327537537},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6413530111312866},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.5933188796043396},{"id":"https://openalex.org/C64869954","wikidata":"https://www.wikidata.org/wiki/Q1859747","display_name":"False positive paradox","level":2,"score":0.5565881133079529},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5097464919090271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5078030228614807},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4800592362880707},{"id":"https://openalex.org/C112789634","wikidata":"https://www.wikidata.org/wiki/Q18207010","display_name":"False positives and false negatives","level":3,"score":0.46796971559524536},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45152702927589417},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364913495425","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913495425","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.672.8944","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.672.8944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kyb.tuebingen.mpg.de/fileadmin/user_upload/files/publications/2013/2013g-FraOriSte.pdf","raw_type":"text"},{"id":"pmh:oai:escidoc.org:escidoc:2047758","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-001A-14BE-1","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:iris.uniroma1.it:11573/536796","is_oa":false,"landing_page_url":"http://ijr.sagepub.com","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W179069837","https://openalex.org/W594643656","https://openalex.org/W1583480316","https://openalex.org/W1584640914","https://openalex.org/W1592358051","https://openalex.org/W1990012555","https://openalex.org/W1990186220","https://openalex.org/W2005389191","https://openalex.org/W2011946889","https://openalex.org/W2015160759","https://openalex.org/W2051195953","https://openalex.org/W2053202351","https://openalex.org/W2062525513","https://openalex.org/W2065860562","https://openalex.org/W2085261163","https://openalex.org/W2093553661","https://openalex.org/W2096300742","https://openalex.org/W2102233102","https://openalex.org/W2103849835","https://openalex.org/W2107402720","https://openalex.org/W2110862165","https://openalex.org/W2110985829","https://openalex.org/W2115286699","https://openalex.org/W2119878099","https://openalex.org/W2120794135","https://openalex.org/W2123941821","https://openalex.org/W2125961820","https://openalex.org/W2126017179","https://openalex.org/W2128019145","https://openalex.org/W2128453677","https://openalex.org/W2129716255","https://openalex.org/W2130155248","https://openalex.org/W2135261995","https://openalex.org/W2135406823","https://openalex.org/W2136247341","https://openalex.org/W2138400911","https://openalex.org/W2138890480","https://openalex.org/W2140131490","https://openalex.org/W2141778145","https://openalex.org/W2149433611","https://openalex.org/W2157503093","https://openalex.org/W2160380850","https://openalex.org/W2161190864","https://openalex.org/W2336416123","https://openalex.org/W3160257224","https://openalex.org/W4234095850"],"related_works":["https://openalex.org/W1557094818","https://openalex.org/W2183246718","https://openalex.org/W1973412793","https://openalex.org/W2099261052","https://openalex.org/W4292605373","https://openalex.org/W2951146195","https://openalex.org/W4226316650","https://openalex.org/W3123215897","https://openalex.org/W2153600354","https://openalex.org/W4243739114"],"abstract_inverted_index":{"We":[0,141],"propose":[1],"a":[2,30,53,76,96,113],"decentralized":[3],"method":[4,93,152,171],"to":[5],"perform":[6],"mutual":[7,46,107],"localization":[8,47,108],"in":[9,42,125],"multi-robot":[10],"systems":[11],"using":[12],"anonymous":[13],"relative":[14,68],"measurements,":[15],"i.e.":[16],"measurements":[17,70],"that":[18,37,63,134,147,157],"do":[19],"not":[20],"include":[21],"the":[22,25,43,67,72,85,91,101,106,119,122,137,150,169,175],"identity":[23],"of":[24,90,100,103,115,121,168],"measured":[26],"robot.":[27],"This":[28],"is":[29,172],"challenging":[31],"and":[32,71,75,124,132],"practically":[33],"relevant":[34],"operating":[35],"scenario":[36],"has":[38],"received":[39],"little":[40],"attention":[41],"literature.":[44],"Our":[45],"algorithm":[48],"includes":[49],"two":[50],"main":[51],"components:":[52],"probabilistic":[54],"multiple":[55],"registration":[56],"stage,":[57,79],"which":[58,80],"provides":[59],"all":[60],"data":[61,83],"associations":[62],"are":[64],"consistent":[65],"with":[66],"robot":[69,138],"current":[73],"belief,":[74],"dynamic":[77],"filtering":[78],"incorporates":[81],"odometric":[82],"into":[84],"estimation":[86],"process.":[87,140],"The":[88,165],"design":[89],"proposed":[92,151,170],"proceeds":[94],"from":[95],"detailed":[97],"formal":[98],"analysis":[99],"implications":[102],"anonymity":[104],"on":[105,112,162],"problem.":[109],"Experimental":[110],"results":[111],"team":[114],"differential-drive":[116],"robots":[117],"illustrate":[118],"effectiveness":[120],"approach,":[123],"particular":[126],"its":[127],"robustness":[128],"against":[129],"false":[130],"positives":[131],"negatives":[133],"may":[135,158],"affect":[136],"measurement":[139],"also":[142],"provide":[143],"an":[144],"experimental":[145],"comparison":[146],"shows":[148],"how":[149],"outperforms":[153],"more":[154],"classical":[155],"approaches":[156],"be":[159],"designed":[160],"building":[161],"existing":[163],"techniques.":[164],"source":[166],"code":[167],"available":[173],"within":[174],"MLAM":[176],"ROS":[177],"stack.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}