{"id":"https://openalex.org/W1553045085","doi":"https://doi.org/10.23919/ecc.2009.7074762","title":"Stochastically convergent localization of objects by mobile sensors and actively controllable relative sensor-object","display_name":"Stochastically convergent localization of objects by mobile sensors and actively controllable relative sensor-object","publication_year":2009,"publication_date":"2009-08-01","ids":{"openalex":"https://openalex.org/W1553045085","doi":"https://doi.org/10.23919/ecc.2009.7074762","mag":"1553045085"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2009.7074762","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5110307296","display_name":"Adrian N. Bishop","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adrian N. Bishop","raw_affiliation_strings":["Centre for Autonomous Systems, KTH, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, KTH, Stockholm, Sweden","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Centre for Autonomous Systems, KTH, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, KTH, Stockholm, Sweden","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2384","last_page":"2389"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9965999722480774,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9965999722480774,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9961000084877014,"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":0.9944999814033508,"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/wireless-sensor-network","display_name":"Wireless sensor network","score":0.6065703630447388},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.572412371635437},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5667530298233032},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5583138465881348},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5497572422027588},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5416562557220459},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5162003636360168},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.504426121711731},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4437548518180847},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4382026195526123},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43673092126846313},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.420900821685791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4009472727775574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3383631706237793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1756112277507782},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17399469017982483}],"concepts":[{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.6065703630447388},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.572412371635437},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5667530298233032},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5583138465881348},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5497572422027588},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5416562557220459},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5162003636360168},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.504426121711731},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4437548518180847},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4382026195526123},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43673092126846313},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.420900821685791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4009472727775574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3383631706237793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1756112277507782},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17399469017982483},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2009.7074762","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"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":15,"referenced_works":["https://openalex.org/W1522531528","https://openalex.org/W1561445488","https://openalex.org/W1992443428","https://openalex.org/W2039921094","https://openalex.org/W2046843699","https://openalex.org/W2101051269","https://openalex.org/W2108793134","https://openalex.org/W2115098818","https://openalex.org/W2138784338","https://openalex.org/W2143864104","https://openalex.org/W2147603396","https://openalex.org/W2158153584","https://openalex.org/W2169564711","https://openalex.org/W2914331897","https://openalex.org/W3217246742"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"The":[0],"problem":[1,60],"of":[2,20,90,94],"object":[3,69],"(network)":[4],"localization":[5],"using":[6,115,136],"a":[7,18,28,46,50,58,111,116,137],"mobile":[8,30,107],"sensor":[9,32,108],"is":[10,102,123],"examined":[11],"in":[12,24,67],"this":[13],"paper.":[14],"Specifically,":[15],"we":[16,86,126],"consider":[17],"set":[19],"stationary":[21],"objects":[22],"located":[23],"the":[25,63,68,80,91,95,106,132],"plane":[26],"and":[27,41,49,130],"single":[29],"nonholonomic":[31],"tasked":[33],"at":[34],"estimating":[35],"their":[36],"relative":[37,51,112,133],"position":[38],"from":[39],"range":[40],"bearing":[42],"measurements.":[43],"We":[44,71,97],"derive":[45],"coordinate":[47],"transform":[48],"sensor-object":[52,113],"motion":[53],"model":[54],"that":[55,100],"leads":[56],"to":[57,79,104,109],"novel":[59],"formulation":[61],"where":[62],"measurements":[64],"are":[65],"linear":[66],"positions.":[70],"then":[72,98],"apply":[73],"an":[74,88],"extended":[75],"Kalman":[76],"filter-like":[77],"algorithm":[78],"estimation":[81],"problem.":[82],"Using":[83],"stochastic":[84],"calculus":[85],"provide":[87],"analysis":[89],"convergence":[92],"properties":[93],"filter.":[96],"illustrate":[99],"it":[101],"possible":[103],"steer":[105],"achieve":[110],"pose":[114,135],"continuous":[117],"control":[118,131],"law.":[119],"This":[120],"last":[121],"fact":[122],"significant":[124],"since":[125],"circumvent":[127],"Brockett's":[128],"theorem":[129],"sensor-source":[134],"simple":[138],"controller.":[139]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}