{"id":"https://openalex.org/W4389192601","doi":"https://doi.org/10.3390/rs15235584","title":"A Low-Cost and Robust Multi-Sensor Data Fusion Scheme for Heterogeneous Multi-Robot Cooperative Positioning in Indoor Environments","display_name":"A Low-Cost and Robust Multi-Sensor Data Fusion Scheme for Heterogeneous Multi-Robot Cooperative Positioning in Indoor Environments","publication_year":2023,"publication_date":"2023-11-30","ids":{"openalex":"https://openalex.org/W4389192601","doi":"https://doi.org/10.3390/rs15235584"},"language":"en","primary_location":{"id":"doi:10.3390/rs15235584","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15235584","pdf_url":"https://www.mdpi.com/2072-4292/15/23/5584/pdf?version=1701396670","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/15/23/5584/pdf?version=1701396670","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058443202","display_name":"Zhi Cai","orcid":"https://orcid.org/0000-0001-6732-6855"},"institutions":[{"id":"https://openalex.org/I4210101451","display_name":"Nanjing University of Industry Technology","ror":"https://ror.org/00qf07q44","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210101451"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Cai","raw_affiliation_strings":["College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","School of Aeronautic Engineering, Nanjing Vocational University of Industry Technology, Nanjing 210023, China"],"affiliations":[{"raw_affiliation_string":"College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautic Engineering, Nanjing Vocational University of Industry Technology, Nanjing 210023, China","institution_ids":["https://openalex.org/I4210101451"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035099275","display_name":"Jiahang Liu","orcid":"https://orcid.org/0000-0001-5177-8216"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiahang Liu","raw_affiliation_strings":["College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"affiliations":[{"raw_affiliation_string":"College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020643535","display_name":"Weijian Chi","orcid":"https://orcid.org/0000-0002-6545-2652"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijian Chi","raw_affiliation_strings":["College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"affiliations":[{"raw_affiliation_string":"College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042758124","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0002-5554-2398"},"institutions":[{"id":"https://openalex.org/I4210164796","display_name":"Nanjing Polytechnic Institute","ror":"https://ror.org/05tt6m403","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210164796"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["School of Network and Communication, Nanjing Vocation College of Information Technology, Nanjing 210023, China"],"affiliations":[{"raw_affiliation_string":"School of Network and Communication, Nanjing Vocation College of Information Technology, Nanjing 210023, China","institution_ids":["https://openalex.org/I4210164796"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035099275"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":11.4356,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97878977,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"15","issue":"23","first_page":"5584","last_page":"5584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9991000294685364,"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":0.9929999709129333,"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/sensor-fusion","display_name":"Sensor fusion","score":0.7774277925491333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7500424385070801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6526116132736206},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6116762757301331},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6082770824432373},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.56960129737854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5124638676643372},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4877041280269623},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4741741418838501},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.43803876638412476},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07092198729515076}],"concepts":[{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.7774277925491333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7500424385070801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6526116132736206},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6116762757301331},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6082770824432373},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.56960129737854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5124638676643372},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4877041280269623},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4741741418838501},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.43803876638412476},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07092198729515076},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/rs15235584","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15235584","pdf_url":"https://www.mdpi.com/2072-4292/15/23/5584/pdf?version=1701396670","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:781356760a0d4188b35ceca38328af07","is_oa":true,"landing_page_url":"https://doaj.org/article/781356760a0d4188b35ceca38328af07","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 15, Iss 23, p 5584 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs15235584","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15235584","pdf_url":"https://www.mdpi.com/2072-4292/15/23/5584/pdf?version=1701396670","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5482424621","display_name":null,"funder_award_id":"42274051","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4389192601.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1981699551","https://openalex.org/W2055083101","https://openalex.org/W2055904838","https://openalex.org/W2059671830","https://openalex.org/W2105308506","https://openalex.org/W2113677822","https://openalex.org/W2118223742","https://openalex.org/W2120248012","https://openalex.org/W2128453677","https://openalex.org/W2129190609","https://openalex.org/W2137588634","https://openalex.org/W2147536420","https://openalex.org/W2149433611","https://openalex.org/W2152910052","https://openalex.org/W2169033759","https://openalex.org/W2170981411","https://openalex.org/W2361054837","https://openalex.org/W2511341707","https://openalex.org/W2621968054","https://openalex.org/W2893539175","https://openalex.org/W2991243845","https://openalex.org/W3006432443","https://openalex.org/W3018424141","https://openalex.org/W3042011474","https://openalex.org/W3126622223","https://openalex.org/W3134294756","https://openalex.org/W3180134609","https://openalex.org/W6680321379","https://openalex.org/W6755087489"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2103761320","https://openalex.org/W2162299404","https://openalex.org/W2358167375","https://openalex.org/W116564642","https://openalex.org/W1981649169","https://openalex.org/W2785359964","https://openalex.org/W1983380679","https://openalex.org/W2547078080","https://openalex.org/W2357354286"],"abstract_inverted_index":{"The":[0,164,181,216],"latest":[1],"development":[2],"of":[3,24,37,54,65,74,192,233],"multi-robot":[4,97,119],"collaborative":[5,76,98],"systems":[6],"has":[7],"put":[8],"forward":[9],"higher":[10],"requirements":[11,227],"for":[12,95,228],"multi-sensor":[13,91],"fusion":[14,23,93,218],"localization.":[15],"Current":[16],"position":[17],"methods":[18],"mainly":[19],"focus":[20],"on":[21,122],"the":[22,25,35,51,72,142,146,152,161,185,199,208,224],"carrier\u2019s":[26],"own":[27],"sensor":[28],"information,":[29],"and":[30,63,89,114,127,145,207,230],"how":[31],"to":[32,40,50,140,222],"fully":[33],"utilize":[34],"information":[36],"multiple":[38,170],"robots":[39],"achieve":[41],"high-precision":[42,75],"positioning":[43,77],"is":[44,78,138,167,196,202,214,220],"a":[45,87,133],"major":[46],"challenge.":[47],"However,":[48],"due":[49],"comprehensive":[52],"impact":[53],"factors":[55],"such":[56],"as":[57],"poor":[58],"performance,":[59],"variety,":[60],"complex":[61],"calculations,":[62],"accumulation":[64],"environmental":[66],"errors":[67],"used":[68,139],"by":[69],"commercial":[70],"robots,":[71],"difficulty":[73],"further":[79],"exacerbated.":[80],"To":[81],"address":[82],"this":[83],"challenge,":[84],"we":[85],"propose":[86],"low-cost":[88],"robust":[90],"data":[92,105,148],"scheme":[94,219],"heterogeneous":[96,118],"navigation":[99],"in":[100,172,211],"indoor":[101,175,193],"environments,":[102],"which":[103],"integrates":[104],"from":[106],"inertial":[107],"measurement":[108],"units":[109],"(IMUs),":[110],"laser":[111],"rangefinders,":[112],"cameras,":[113],"so":[115],"on,":[116],"into":[117],"navigation.":[120],"Based":[121],"Discrete":[123],"Kalman":[124,129],"Filter":[125,130],"(DKF)":[126],"Extended":[128],"(EKF)":[131],"principles,":[132],"three-step":[134],"joint":[135],"filtering":[136],"model":[137],"improve":[141],"state":[143],"estimation":[144],"visual":[147],"are":[149],"processed":[150],"using":[151],"YOLO":[153],"deep":[154],"learning":[155],"target":[156],"detection":[157],"algorithm":[158],"before":[159],"updating":[160],"integrated":[162],"filter.":[163],"proposed":[165,217],"integration":[166],"tested":[168],"at":[169],"levels":[171],"an":[173],"open":[174],"environment":[176],"following":[177],"various":[178],"formation":[179],"paths.":[180],"results":[182],"show":[183],"that":[184],"three-dimensional":[186],"root":[187],"mean":[188],"square":[189],"error":[190,201,210],"(RMSE)":[191],"cooperative":[194],"localization":[195,225],"11.3":[197],"mm,":[198,206],"maximum":[200],"less":[203],"than":[204],"21.4":[205],"motion":[209,232],"occluded":[212],"environments":[213],"suppressed.":[215],"able":[221],"satisfy":[223],"accuracy":[226],"efficient":[229],"coordinated":[231],"autonomous":[234],"mobile":[235],"robots.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5}],"updated_date":"2026-04-19T08:26:33.389920","created_date":"2025-10-10T00:00:00"}
