{"id":"https://openalex.org/W2341165706","doi":"https://doi.org/10.1177/0278364917710541","title":"Analytical SLAM without linearization","display_name":"Analytical SLAM without linearization","publication_year":2017,"publication_date":"2017-06-13","ids":{"openalex":"https://openalex.org/W2341165706","doi":"https://doi.org/10.1177/0278364917710541","mag":"2341165706"},"language":"en","primary_location":{"id":"doi:10.1177/0278364917710541","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917710541","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/108927","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109037829","display_name":"Feng Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feng Tan","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071209920","display_name":"Winfried Lohmiller","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Winfried Lohmiller","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":"https://orcid.org/0000-0002-7161-7812"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jean-Jacques Slotine","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044026747"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.2447,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8434009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"36","issue":"13-14","first_page":"1554","last_page":"1578"},"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":0.9991000294685364,"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":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9934999942779541,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7601474523544312},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6480090022087097},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5897821187973022},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5079172253608704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47199156880378723},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4435041546821594},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4411672055721283},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4411441683769226},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3905010521411896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3815174698829651},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36125361919403076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3293129503726959},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1442502737045288},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11626473069190979},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.10285261273384094}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7601474523544312},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6480090022087097},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5897821187973022},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5079172253608704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47199156880378723},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4435041546821594},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4411672055721283},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4411441683769226},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3905010521411896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3815174698829651},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36125361919403076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3293129503726959},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1442502737045288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11626473069190979},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.10285261273384094},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364917710541","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917710541","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:dspace.mit.edu:1721.1/108927","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/108927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},{"id":"pmh:oai:dspace.mit.edu:1721.1/134851","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/134851","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/JournalArticle"},{"id":"pmh:oai:dspace.mit.edu:1721.1/134851.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/134851.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/108927","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/108927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":103,"referenced_works":["https://openalex.org/W47828604","https://openalex.org/W198791017","https://openalex.org/W304861154","https://openalex.org/W421036450","https://openalex.org/W1506647431","https://openalex.org/W1511332864","https://openalex.org/W1529914801","https://openalex.org/W1536617987","https://openalex.org/W1551215724","https://openalex.org/W1571286754","https://openalex.org/W1576910433","https://openalex.org/W1584640914","https://openalex.org/W1628152601","https://openalex.org/W1928502885","https://openalex.org/W1937083578","https://openalex.org/W1968315983","https://openalex.org/W1976905874","https://openalex.org/W1978244561","https://openalex.org/W1980074099","https://openalex.org/W1991485569","https://openalex.org/W1994292819","https://openalex.org/W2011754354","https://openalex.org/W2016942279","https://openalex.org/W2022133743","https://openalex.org/W2023509699","https://openalex.org/W2024908906","https://openalex.org/W2027055074","https://openalex.org/W2028422884","https://openalex.org/W2039921094","https://openalex.org/W2046695302","https://openalex.org/W2051289031","https://openalex.org/W2052014837","https://openalex.org/W2053238375","https://openalex.org/W2056933988","https://openalex.org/W2064169939","https://openalex.org/W2066323216","https://openalex.org/W2073104942","https://openalex.org/W2080823437","https://openalex.org/W2084294926","https://openalex.org/W2089543834","https://openalex.org/W2090636411","https://openalex.org/W2095468883","https://openalex.org/W2096799919","https://openalex.org/W2099544223","https://openalex.org/W2099616257","https://openalex.org/W2100053656","https://openalex.org/W2100475673","https://openalex.org/W2104431395","https://openalex.org/W2105934661","https://openalex.org/W2108890793","https://openalex.org/W2111295154","https://openalex.org/W2113560487","https://openalex.org/W2113906280","https://openalex.org/W2114858887","https://openalex.org/W2117471449","https://openalex.org/W2118223742","https://openalex.org/W2118341165","https://openalex.org/W2121272499","https://openalex.org/W2121990344","https://openalex.org/W2122455045","https://openalex.org/W2122512809","https://openalex.org/W2123213117","https://openalex.org/W2124326815","https://openalex.org/W2133048394","https://openalex.org/W2133805303","https://openalex.org/W2134889984","https://openalex.org/W2137052305","https://openalex.org/W2140393629","https://openalex.org/W2142444827","https://openalex.org/W2142963608","https://openalex.org/W2148228392","https://openalex.org/W2149020252","https://openalex.org/W2151632846","https://openalex.org/W2154202063","https://openalex.org/W2154319942","https://openalex.org/W2156561799","https://openalex.org/W2158090912","https://openalex.org/W2161165357","https://openalex.org/W2164948897","https://openalex.org/W2165018911","https://openalex.org/W2165468899","https://openalex.org/W2165746885","https://openalex.org/W2168210109","https://openalex.org/W2238582461","https://openalex.org/W2252678175","https://openalex.org/W2288231337","https://openalex.org/W2313212525","https://openalex.org/W2320012146","https://openalex.org/W2324955640","https://openalex.org/W2536379393","https://openalex.org/W2570237170","https://openalex.org/W2617741968","https://openalex.org/W2727085722","https://openalex.org/W2911934539","https://openalex.org/W2913838200","https://openalex.org/W2914304175","https://openalex.org/W3139610437","https://openalex.org/W3140331270","https://openalex.org/W3150072905","https://openalex.org/W4239915530","https://openalex.org/W4241021229","https://openalex.org/W4298189948","https://openalex.org/W4376526089"],"related_works":["https://openalex.org/W4310470578","https://openalex.org/W1979363931","https://openalex.org/W2121461705","https://openalex.org/W2148376590","https://openalex.org/W1964464946","https://openalex.org/W2137709382","https://openalex.org/W2143533996","https://openalex.org/W2079005675","https://openalex.org/W2027055074","https://openalex.org/W2113425768"],"abstract_inverted_index":{"This":[0],"paper":[1],"solves":[2],"the":[3,22,28,42,54,85,91,96,100,116],"classical":[4],"problem":[5],"of":[6,24,53,63,84,95],"simultaneous":[7],"localization":[8],"and":[9,38,106,126],"mapping":[10],"(SLAM)":[11],"in":[12,45,87,114,123,133],"a":[13,31,80,134],"fashion":[14],"that":[15],"avoids":[16],"linearized":[17],"approximations":[18,39],"altogether.":[19],"Based":[20],"on":[21],"creation":[23],"virtual":[25],"synthetic":[26],"measurements,":[27,72,74],"algorithm":[29,55,86,118],"uses":[30],"linear":[32],"time-varying":[33],"Kalman":[34,48],"observer,":[35],"bypassing":[36],"errors":[37],"brought":[40],"by":[41],"linearization":[43],"process":[44],"traditional":[46],"extended":[47],"filtering":[49],"SLAM.":[50],"Convergence":[51],"rates":[52,132],"are":[56],"established":[57],"using":[58],"contraction":[59],"analysis.":[60],"Different":[61],"combinations":[62],"sensor":[64],"information":[65],"can":[66,119],"be":[67],"exploited,":[68],"such":[69],"as":[70],"bearing":[71],"range":[73],"optical":[75],"flow,":[76],"or":[77],"time-to-contact.":[78],"SLAM-DUNK,":[79],"more":[81],"advanced":[82],"version":[83],"global":[88],"coordinates,":[89],"exploits":[90],"conditional":[92],"independence":[93],"property":[94],"SLAM":[97,121],"problem,":[98],"decoupling":[99],"covariance":[101],"matrices":[102],"between":[103],"different":[104],"landmarks":[105],"reducing":[107],"computational":[108],"complexity":[109],"to":[110],"O(n).":[111],"As":[112],"illustrated":[113],"simulations,":[115],"proposed":[117],"solve":[120],"problems":[122],"both":[124],"2D":[125],"3D":[127],"scenarios":[128],"with":[129],"guaranteed":[130],"convergence":[131],"full":[135],"nonlinear":[136],"context.":[137]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
