{"id":"https://openalex.org/W3186889841","doi":"https://doi.org/10.23919/acc50511.2021.9482834","title":"Bearing-Only Navigation with Field of View Constraints","display_name":"Bearing-Only Navigation with Field of View Constraints","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3186889841","doi":"https://doi.org/10.23919/acc50511.2021.9482834","mag":"3186889841"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9482834","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-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/A5038610976","display_name":"Arman Karimian","orcid":"https://orcid.org/0000-0002-9293-0533"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arman Karimian","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, Boston, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031884953","display_name":"Roberto Tron","orcid":"https://orcid.org/0000-0002-6676-8595"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Tron","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, Boston, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":null,"apc_paid":null,"fwci":0.1941,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.48737423,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"20","last_page":"25"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9997000098228455,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9961000084877014,"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/double-integrator","display_name":"Double integrator","score":0.6848673820495605},{"id":"https://openalex.org/keywords/tangent","display_name":"Tangent","score":0.6404472589492798},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6120076179504395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5512890219688416},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.5400583744049072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.522892415523529},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5061690211296082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47217243909835815},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.4700573682785034},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.46004700660705566},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.446260929107666},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.4172079563140869},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3901522159576416},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3699917495250702},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3522011339664459},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2085048258304596},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10648772120475769},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.10057452321052551}],"concepts":[{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.6848673820495605},{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.6404472589492798},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6120076179504395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5512890219688416},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.5400583744049072},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.522892415523529},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5061690211296082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47217243909835815},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.4700573682785034},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.46004700660705566},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.446260929107666},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.4172079563140869},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3901522159576416},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3699917495250702},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3522011339664459},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2085048258304596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10648772120475769},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.10057452321052551},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9482834","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W150758695","https://openalex.org/W1483642803","https://openalex.org/W1563826663","https://openalex.org/W2025984802","https://openalex.org/W2040324983","https://openalex.org/W2043426163","https://openalex.org/W2079917599","https://openalex.org/W2087277648","https://openalex.org/W2089044762","https://openalex.org/W2100172545","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2110144538","https://openalex.org/W2114722947","https://openalex.org/W2117759736","https://openalex.org/W2119860009","https://openalex.org/W2121324469","https://openalex.org/W2153612202","https://openalex.org/W2154722715","https://openalex.org/W2170492782","https://openalex.org/W2296658051","https://openalex.org/W2418555985","https://openalex.org/W2977443274","https://openalex.org/W3084828779","https://openalex.org/W3186889841","https://openalex.org/W4247582681","https://openalex.org/W6629129224","https://openalex.org/W6661082275","https://openalex.org/W6768592159"],"related_works":["https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W1986006778","https://openalex.org/W2034124193","https://openalex.org/W2379017606","https://openalex.org/W2171970890","https://openalex.org/W2356423988","https://openalex.org/W2314536238","https://openalex.org/W4394761637","https://openalex.org/W2156795998"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,30,67,75,84,87,94,106,110,115,158],"problem":[4,34],"of":[5,19,72,77,86,99,117,149,151,160],"navigation":[6,26],"using":[7],"only":[8,142],"relative":[9,13],"directional":[10],"measurements":[11],"(i.e.,":[12],"distances":[14],"are":[15,52,122],"unknown)":[16],"with":[17,35],"field":[18,28,65,92,116],"view":[20,118],"constraints.":[21,119],"We":[22,153],"present":[23],"a":[24,70,102,166,170],"novel":[25],"vector":[27],"for":[29],"bearing-based":[31],"visual":[32],"homing":[33],"respect":[36],"to":[37,56,69,83,104,113,125,137],"static":[38],"landmarks":[39,59,111],"in":[40],"2-D":[41],"and":[42,54,112,147,169],"3-D":[43],"environments.":[44],"Our":[45,133],"method":[46,134],"employs":[47],"two":[48,164],"control":[49,131],"fields":[50,121],"that":[51,156],"tangent":[53,64],"normal":[55,91],"ellipsoids":[57],"having":[58],"as":[60,101,139],"their":[61],"foci.":[62],"The":[63,90],"steers":[66],"robot":[68],"set":[71],"points":[73],"where":[74],"average":[76,85,145],"observed":[78],"bearing":[79],"vectors":[80],"is":[81,135],"parallel":[82],"desired":[88],"bearings.":[89],"uses":[93],"angle":[95],"between":[96,144],"different":[97],"pairs":[98,150],"bearings":[100],"proxy":[103],"adjust":[105],"robot's":[107],"distance":[108],"from":[109],"satisfy":[114],"Both":[120],"blended":[123],"together":[124],"construct":[126],"an":[127],"almost":[128],"globally":[129],"stable":[130],"law.":[132],"straightforward":[136],"implement,":[138],"it":[140],"requires":[141],"comparisons":[143],"bearings,":[146],"angles":[148],"vectors.":[152],"provide":[154],"simulations":[155],"demonstrate":[157],"robustness":[159],"our":[161],"approach":[162],"on":[163],"systems:":[165],"double":[167],"integrator,":[168],"unicycle.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}