{"id":"https://openalex.org/W3043148693","doi":"https://doi.org/10.1177/0959651820932733","title":"Towards simultaneous localization and mapping tolerant to sensors and software faults: Application to omnidirectional mobile robot","display_name":"Towards simultaneous localization and mapping tolerant to sensors and software faults: Application to omnidirectional mobile robot","publication_year":2020,"publication_date":"2020-07-14","ids":{"openalex":"https://openalex.org/W3043148693","doi":"https://doi.org/10.1177/0959651820932733","mag":"3043148693"},"language":"en","primary_location":{"id":"doi:10.1177/0959651820932733","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651820932733","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5022253518","display_name":"Billel Kellalib","orcid":"https://orcid.org/0000-0001-9751-8313"},"institutions":[{"id":"https://openalex.org/I192268740","display_name":"University of Algiers Benyoucef Benkhedda","ror":"https://ror.org/011r6gp69","country_code":"DZ","type":"education","lineage":["https://openalex.org/I192268740"]},{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Billel Kellalib","raw_affiliation_strings":["LRPE Laboratory, USTHB University, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"LRPE Laboratory, USTHB University, Algiers, Algeria","institution_ids":["https://openalex.org/I192268740","https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029945798","display_name":"Nouara Achour","orcid":"https://orcid.org/0000-0002-9670-7005"},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]},{"id":"https://openalex.org/I192268740","display_name":"University of Algiers Benyoucef Benkhedda","ror":"https://ror.org/011r6gp69","country_code":"DZ","type":"education","lineage":["https://openalex.org/I192268740"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Nouara Achour","raw_affiliation_strings":["LRPE Laboratory, USTHB University, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"LRPE Laboratory, USTHB University, Algiers, Algeria","institution_ids":["https://openalex.org/I192268740","https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087061016","display_name":"Vincent Coelen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Coelen","raw_affiliation_strings":["CRIStAL, Polytech Lille, Villeneuve-d\u2019Ascq, France","CRIStAL, Polytech Lille, Villeneuve-d'Ascq, France"],"affiliations":[{"raw_affiliation_string":"CRIStAL, Polytech Lille, Villeneuve-d\u2019Ascq, France","institution_ids":["https://openalex.org/I4210154774"]},{"raw_affiliation_string":"CRIStAL, Polytech Lille, Villeneuve-d'Ascq, France","institution_ids":["https://openalex.org/I4210154774"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072944170","display_name":"Abdelkrim Nemra","orcid":"https://orcid.org/0000-0001-9961-7462"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Abdelkrim Nemra","raw_affiliation_strings":["Laboratoire des Vehicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Laboratoire des Vehicules Autonomes Intelligents, Ecole Militaire Polytechnique (EMP), Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022253518"],"corresponding_institution_ids":["https://openalex.org/I157169809","https://openalex.org/I192268740"],"apc_list":null,"apc_paid":null,"fwci":1.0355,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81734703,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"235","issue":"2","first_page":"269","last_page":"288"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.7141499519348145},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6012958884239197},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5910120606422424},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5739540457725525},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5615376830101013},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5437825918197632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5322100520133972},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5154439210891724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5060729384422302},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49687865376472473},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49686864018440247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4929816722869873},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4836248457431793},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4825981855392456},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4775175154209137},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.47428590059280396},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4600922465324402},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4322957992553711},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2829066812992096},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.08435288071632385},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.08260121941566467}],"concepts":[{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.7141499519348145},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6012958884239197},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5910120606422424},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5739540457725525},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5615376830101013},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5437825918197632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5322100520133972},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5154439210891724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5060729384422302},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49687865376472473},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49686864018440247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4929816722869873},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4836248457431793},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4825981855392456},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4775175154209137},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.47428590059280396},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4600922465324402},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4322957992553711},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2829066812992096},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.08435288071632385},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.08260121941566467},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651820932733","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651820932733","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1649056824","https://openalex.org/W1989198617","https://openalex.org/W2013923153","https://openalex.org/W2068440055","https://openalex.org/W2070982421","https://openalex.org/W2081381474","https://openalex.org/W2100116885","https://openalex.org/W2121797328","https://openalex.org/W2143062563","https://openalex.org/W2149739836","https://openalex.org/W2515608301","https://openalex.org/W2551817335","https://openalex.org/W2574700614","https://openalex.org/W2587500416","https://openalex.org/W2592856010","https://openalex.org/W2598136971","https://openalex.org/W2687434340","https://openalex.org/W2772163732","https://openalex.org/W2774637283","https://openalex.org/W2782298334","https://openalex.org/W2810568546","https://openalex.org/W2888874480","https://openalex.org/W2913447261","https://openalex.org/W4393137928"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"In":[0],"the":[1,16,39,57,83,102,106,140,151,154,170,174,177,185],"last":[2],"few":[3],"years,":[4],"simultaneous":[5,44,88,111],"localization":[6,45,89,95,112],"and":[7,46,63,72,90,105,113,136,173,188],"mapping":[8,47,91,114],"became":[9],"an":[10,22,93,121],"important":[11],"topic":[12],"of":[13,27,50,101,153,176],"research":[14],"in":[15,30,48,56],"robotics":[17],"community.":[18],"This":[19],"article":[20],"proposes":[21],"approach":[23,79,104,156],"for":[24,87,110,139,184],"autonomous":[25],"navigation":[26],"mobile":[28,123],"robots":[29],"faulty":[31],"situations.":[32],"The":[33,75,99,147],"main":[34],"objective":[35],"is":[36,66,80,97,116,166],"to":[37,43,181],"extend":[38],"fault":[40,77,163,178,186],"tolerance":[41,78,164],"strategy":[42],"presence":[49],"sensor":[51,96,138],"faults":[52,55],"or":[53],"software":[54],"data":[58],"fusion":[59],"process.":[60],"Fault":[61],"detection":[62,179,187],"isolation":[64],"technique":[65],"performed":[67,117],"based":[68,81,167],"on":[69,82,169],"duplication\u2013comparison":[70],"method":[71],"structured":[73],"residuals.":[74],"proposed":[76,103,155],"extended":[84,107],"Kalman":[85,108],"filter":[86,109],"when":[92],"absolute":[94,141],"available.":[98],"validation":[100],"algorithm":[115],"from":[118],"experiments":[119],"employing":[120],"omnidrive":[122],"robot,":[124],"equipped":[125],"with":[126],"embedded":[127],"sensors,":[128],"namely:":[129],"wheel":[130],"encoders,":[131],"gyroscope,":[132],"two":[133],"laser":[134],"rangefinders":[135],"external":[137],"position":[142],"(indoor":[143],"global":[144],"positioning":[145],"system).":[146],"obtained":[148],"results":[149],"demonstrate":[150],"effectiveness":[152],"where":[157],"it":[158],"was":[159],"found":[160],"that":[161],"its":[162],"performance":[165],"essentially":[168],"selected":[171],"residuals":[172],"values":[175],"thresholds":[180],"be":[182],"used":[183],"isolation.":[189]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
