{"id":"https://openalex.org/W4403558093","doi":"https://doi.org/10.1177/02783649241287797","title":"Quantifying mobile robot localization safety for an EKF-based SLAM estimator: An integrity monitoring approach","display_name":"Quantifying mobile robot localization safety for an EKF-based SLAM estimator: An integrity monitoring approach","publication_year":2024,"publication_date":"2024-10-19","ids":{"openalex":"https://openalex.org/W4403558093","doi":"https://doi.org/10.1177/02783649241287797"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241287797","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241287797","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/A5071975414","display_name":"Osama Abdul Hafez","orcid":"https://orcid.org/0000-0002-2436-6934"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]},{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Osama Abdul Hafez","raw_affiliation_strings":["Assured Vehicle Autonomy Lab (AKA: AVA Lab), Aerospace and Ocean Engineering Dept., Virginia Tech (AKA: VT), Blacksburg, VA, USA","The Robotics Lab, Mechanical, Materials, and Aerospace Engineering Dept., Illinois Institute of Technology (AKA: IIT), Chicago, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-2436-6934","affiliations":[{"raw_affiliation_string":"Assured Vehicle Autonomy Lab (AKA: AVA Lab), Aerospace and Ocean Engineering Dept., Virginia Tech (AKA: VT), Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]},{"raw_affiliation_string":"The Robotics Lab, Mechanical, Materials, and Aerospace Engineering Dept., Illinois Institute of Technology (AKA: IIT), Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055276363","display_name":"Mathieu Joerger","orcid":"https://orcid.org/0000-0002-6391-9095"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mathieu Joerger","raw_affiliation_strings":["Assured Vehicle Autonomy Lab (AKA: AVA Lab), Aerospace and Ocean Engineering Dept., Virginia Tech (AKA: VT), Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6391-9095","affiliations":[{"raw_affiliation_string":"Assured Vehicle Autonomy Lab (AKA: AVA Lab), Aerospace and Ocean Engineering Dept., Virginia Tech (AKA: VT), Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077307223","display_name":"Matthew Spenko","orcid":"https://orcid.org/0000-0001-6483-5339"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Spenko","raw_affiliation_strings":["The Robotics Lab, Mechanical, Materials, and Aerospace Engineering Dept., Illinois Institute of Technology (AKA: IIT), Chicago, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Lab, Mechanical, Materials, and Aerospace Engineering Dept., Illinois Institute of Technology (AKA: IIT), Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5071975414"],"corresponding_institution_ids":["https://openalex.org/I180949307","https://openalex.org/I859038795"],"apc_list":null,"apc_paid":null,"fwci":6.9876,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96279354,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"44","issue":"6","first_page":"972","last_page":"988"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9933000206947327,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.76353919506073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6191308498382568},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5969648957252502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5629134178161621},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5182130932807922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5157546997070312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4826529622077942},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3691498339176178},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3567039966583252},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3256267309188843},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14782732725143433}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.76353919506073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6191308498382568},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5969648957252502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5629134178161621},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5182130932807922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5157546997070312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4826529622077942},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3691498339176178},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3567039966583252},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3256267309188843},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14782732725143433},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241287797","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241287797","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1558685142","https://openalex.org/W1771720127","https://openalex.org/W1973131250","https://openalex.org/W1999881999","https://openalex.org/W2010025862","https://openalex.org/W2074281461","https://openalex.org/W2080647722","https://openalex.org/W2119262239","https://openalex.org/W2119398235","https://openalex.org/W2121699695","https://openalex.org/W2141026532","https://openalex.org/W2145146203","https://openalex.org/W2238582461","https://openalex.org/W2336416123","https://openalex.org/W2414542138","https://openalex.org/W2461937780","https://openalex.org/W2525936901","https://openalex.org/W2567937506","https://openalex.org/W2610754733","https://openalex.org/W2727085722","https://openalex.org/W2794149315","https://openalex.org/W2890530211","https://openalex.org/W2890897099","https://openalex.org/W2903918817","https://openalex.org/W2904845535","https://openalex.org/W2948273655","https://openalex.org/W2964220950","https://openalex.org/W2967265204","https://openalex.org/W2968403501","https://openalex.org/W2968549433","https://openalex.org/W2968829478","https://openalex.org/W2976290707","https://openalex.org/W2979616766","https://openalex.org/W3008065677","https://openalex.org/W3035458746","https://openalex.org/W3048764189","https://openalex.org/W3080976073","https://openalex.org/W3092550853","https://openalex.org/W3094352759","https://openalex.org/W3105134469","https://openalex.org/W3124420883","https://openalex.org/W3130106235","https://openalex.org/W4205492173","https://openalex.org/W4213322609","https://openalex.org/W4233606521","https://openalex.org/W4256215416","https://openalex.org/W4285134996","https://openalex.org/W4285506369","https://openalex.org/W4292621749","https://openalex.org/W4386571105","https://openalex.org/W4391179633","https://openalex.org/W4396941581","https://openalex.org/W4400111054","https://openalex.org/W6742979396"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W1981991040","https://openalex.org/W2005337052","https://openalex.org/W2467646110","https://openalex.org/W2583542422","https://openalex.org/W3001939774"],"abstract_inverted_index":{"The":[0,67,88],"safety":[1,126,146],"of":[2],"SLAM-based":[3,42],"estimation":[4],"for":[5,14,52,71],"mobile":[6,43,123],"robots":[7],"is":[8,69,134],"a":[9,27,33,76,81],"challenging":[10],"research":[11],"problem,":[12,23],"particularly":[13],"life-":[15],"or":[16],"mission-critical":[17],"exploratory":[18],"applications.":[19],"To":[20],"address":[21],"this":[22,24],"work":[25],"proposes":[26],"method":[28,68],"to":[29,40,137,144],"utilize":[30],"integrity":[31,109],"risk,":[32],"widely":[34],"used":[35],"performance":[36,99],"metric":[37],"in":[38],"aviation,":[39],"quantify":[41],"robot\u2019s":[44],"localization":[45,125],"safety.":[46],"More":[47],"importantly,":[48],"the":[49,107,113,118,130,139],"approach":[50],"accounts":[51],"sensor":[53],"measurement":[54],"faults,":[55],"unknown":[56],"deterministic":[57],"errors":[58,94],"that":[59,91,101,116],"cannot":[60],"be":[61,104],"modeled":[62],"via":[63],"Gaussian":[64],"white":[65],"noise.":[66],"tailored":[70],"an":[72],"EKF-based":[73],"SLAM":[74],"estimator,":[75],"chi-squared":[77],"failure":[78],"detector,":[79],"and":[80],"local":[82],"nearest":[83],"neighbors":[84],"data":[85,92],"association":[86,93],"criterion.":[87],"results":[89],"show":[90],"can":[95,102],"cause":[96],"significant":[97],"positioning":[98,145],"degradation":[100],"only":[103],"predicted":[105],"using":[106],"proposed":[108],"risk":[110],"metric.":[111],"Furthermore,":[112],"study":[114],"demonstrates":[115],"as":[117],"map\u2019s":[119,132],"landmark":[120,131],"density":[121,133],"increases,":[122],"robot":[124],"improves,":[127],"except":[128],"when":[129],"too":[135],"high":[136],"make":[138],"features":[140],"indistinguishable,":[141],"which":[142],"leads":[143],"degradation.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
