{"id":"https://openalex.org/W3085958545","doi":"https://doi.org/10.23919/fusion45008.2020.9190329","title":"A New Leader-follower Model for Bayesian Tracking","display_name":"A New Leader-follower Model for Bayesian Tracking","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3085958545","doi":"https://doi.org/10.23919/fusion45008.2020.9190329","mag":"3085958545"},"language":"en","primary_location":{"id":"doi:10.23919/fusion45008.2020.9190329","is_oa":false,"landing_page_url":"https://doi.org/10.23919/fusion45008.2020.9190329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.17863/cam.64116","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100404155","display_name":"Qing Li","orcid":"https://orcid.org/0000-0003-0297-4346"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Qing Li","raw_affiliation_strings":["Department of Engineering, University of Cambridge, Cambridge, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020836373","display_name":"Simon Godsill","orcid":"https://orcid.org/0000-0001-9522-9681"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Godsill","raw_affiliation_strings":["Department of Engineering, University of Cambridge, Cambridge, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100404155"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":null,"apc_paid":null,"fwci":0.5436,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74009187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9786999821662903,"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"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9714999794960022,"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/heading","display_name":"Heading (navigation)","score":0.7955725193023682},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6472631692886353},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5936334133148193},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5691177845001221},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5580746531486511},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5549055337905884},{"id":"https://openalex.org/keywords/polar-coordinate-system","display_name":"Polar coordinate system","score":0.5522546172142029},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5504747629165649},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46993905305862427},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.45122379064559937},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.4176645874977112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29116034507751465},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2535213828086853},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1960124671459198},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13453227281570435}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7955725193023682},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6472631692886353},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5936334133148193},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5691177845001221},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5580746531486511},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5549055337905884},{"id":"https://openalex.org/C40069579","wikidata":"https://www.wikidata.org/wiki/Q62494","display_name":"Polar coordinate system","level":2,"score":0.5522546172142029},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5504747629165649},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46993905305862427},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.45122379064559937},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.4176645874977112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29116034507751465},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2535213828086853},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1960124671459198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13453227281570435},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.23919/fusion45008.2020.9190329","is_oa":false,"landing_page_url":"https://doi.org/10.23919/fusion45008.2020.9190329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},{"id":"pmh:oai:generic.eprints.org:1265096","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1265096/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/317005","is_oa":false,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/317005","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Object"},{"id":"doi:10.17863/cam.64116","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.64116","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.17863/cam.64116","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.64116","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W34992941","https://openalex.org/W1512576404","https://openalex.org/W1513008779","https://openalex.org/W1522727408","https://openalex.org/W1966447678","https://openalex.org/W1974074437","https://openalex.org/W1975520369","https://openalex.org/W2027646026","https://openalex.org/W2044717160","https://openalex.org/W2045912367","https://openalex.org/W2078413699","https://openalex.org/W2129078811","https://openalex.org/W2129311553","https://openalex.org/W2132673546","https://openalex.org/W2136168294","https://openalex.org/W2140242774","https://openalex.org/W2143461150","https://openalex.org/W2510060989","https://openalex.org/W2545806368","https://openalex.org/W3016162056","https://openalex.org/W4247329825","https://openalex.org/W6630630502","https://openalex.org/W6724992308","https://openalex.org/W6775886504"],"related_works":["https://openalex.org/W4280523327","https://openalex.org/W2511374036","https://openalex.org/W4320005170","https://openalex.org/W4312892491","https://openalex.org/W2016952801","https://openalex.org/W2377585521","https://openalex.org/W2373826460","https://openalex.org/W4230987941","https://openalex.org/W4377003511","https://openalex.org/W169571159"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,9,15,50,57,65,109,122],"novel":[4],"leader-follower":[5,25],"model":[6,20,26,75,124],"for":[7,78,132],"tracking":[8,129,162],"group":[10,161,172],"of":[11,39,47,63,91,104,148,171,178,180],"manoeuvring":[12],"objects":[13],"under":[14,159],"probabilistic":[16],"framework.":[17],"The":[18,153],"proposed":[19],"develops":[21],"on":[22],"the":[23,29,35,40,45,79,89,92,99,105,115,134,146,149],"conventional":[24,117],"in":[27,56],"which":[28,140],"followers":[30,48],"are":[31,85],"driven":[32],"stochastically":[33],"towards":[34,98],"velocity":[36],"and":[37,53,102,144,151,164,174],"position":[38],"leader.":[41,93],"Here":[42],"we":[43],"consider":[44],"dynamic":[46],"as":[49],"mean-reverting":[51],"process":[52],"express":[54],"it":[55],"continuous-time":[58],"stochastic":[59],"differential":[60],"equation.":[61],"Instead":[62],"using":[64,131],"standard":[66],"global":[67,118],"Cartesian":[68],"or":[69],"polar":[70],"system,":[71],"an":[72],"intrinsic":[73],"coordinate":[74,119],"is":[76,125],"utilised":[77],"leader":[80,150],"where":[81],"piecewise":[82],"constant":[83],"forces":[84],"applied":[86],"relative":[87],"to":[88,108],"heading":[90,100],"Followers":[94],"then":[95],"mean":[96],"revert":[97],"angle":[101],"speed":[103],"leader,":[106],"leading":[107],"more":[110,116],"realistic":[111],"behavioural":[112],"modelling":[113],"than":[114],"systems.":[120],"Such":[121],"dynamical":[123],"readily":[126],"incorporated":[127],"into":[128],"algorithms":[130],"example":[133],"variable":[135],"rate":[136],"particle":[137],"filtering":[138],"framework":[139],"can":[141],"accurately":[142],"capture":[143],"estimate":[145],"manoeuvres":[147],"followers.":[152],"simulation":[154],"results":[155],"verify":[156],"its":[157],"efficacy":[158],"challenging":[160],"scenarios":[163],"future":[165],"work":[166],"will":[167],"explore":[168],"automatic":[169],"identification":[170],"structure":[173],"leadership":[175],"from":[176],"measurements":[177],"groups":[179],"moving":[181],"objects.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
