{"id":"https://openalex.org/W7130594638","doi":"https://doi.org/10.48550/arxiv.2602.15893","title":"Statistical-Geometric Degeneracy in UAV Search: A Physics-Aware Asymmetric Filtering Approach","display_name":"Statistical-Geometric Degeneracy in UAV Search: A Physics-Aware Asymmetric Filtering Approach","publication_year":2026,"publication_date":"2026-02-11","ids":{"openalex":"https://openalex.org/W7130594638","doi":"https://doi.org/10.48550/arxiv.2602.15893"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.15893","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15893","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.15893","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077010084","display_name":"Zhiyuan Ren","orcid":"https://orcid.org/0009-0009-1938-3199"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Zhiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126397803","display_name":"Yudong Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Yudong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126396587","display_name":"Tao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121098661","display_name":"Wenchi Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Wenchi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5126382204","display_name":"Ben Lan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lan, Ben","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.23360000550746918,"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":0.23360000550746918,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.1039000004529953,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.1023000031709671,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5587000250816345},{"id":"https://openalex.org/keywords/degeneracy","display_name":"Degeneracy (biology)","score":0.5583999752998352},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5493000149726868},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49779999256134033},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4952999949455261},{"id":"https://openalex.org/keywords/degenerate-energy-levels","display_name":"Degenerate energy levels","score":0.4830000102519989},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4629000127315521},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.44620001316070557},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.3732999861240387}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5587000250816345},{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.5583999752998352},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5493000149726868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5091999769210815},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4952999949455261},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.4830000102519989},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4629000127315521},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4169999957084656},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3276999890804291},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3253999948501587},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3066999912261963},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2775999903678894},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.272599995136261},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C97256817","wikidata":"https://www.wikidata.org/wiki/Q1462316","display_name":"Spurious relationship","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.2694999873638153},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.2606000006198883}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.15893","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15893","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.15893","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15893","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"},"sustainable_development_goals":[{"score":0.7562088370323181,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Post-disaster":[0],"survivor":[1],"localization":[2],"using":[3],"Unmanned":[4],"Aerial":[5],"Vehicles":[6],"(UAVs)":[7],"faces":[8],"a":[9,59,67,122,138,152,173,184,191,206],"fundamental":[10],"physical":[11,132,160],"challenge:":[12],"the":[13,51,78,83,103,109,125,130,159],"prevalence":[14],"of":[15,53,85,105,134,155],"Non-Line-of-Sight":[16],"(NLOS)":[17],"propagation":[18],"in":[19,62,113,190],"collapsed":[20],"structures.":[21],"Unlike":[22],"standard":[23,147],"Gaussian":[24],"noise,":[25],"signal":[26],"reflection":[27],"from":[28],"debris":[29],"introduces":[30],"strictly":[31],"non-negative":[32,131],"ranging":[33],"biases.":[34],"Existing":[35],"robust":[36,174],"estimators,":[37],"typically":[38],"designed":[39],"with":[40,102],"symmetric":[41,148,203],"loss":[42,141],"functions":[43],"(e.g.,":[44],"Huber":[45],"or":[46],"Tukey),":[47],"implicitly":[48],"rely":[49],"on":[50],"assumption":[52],"error":[54],"symmetry.":[55],"Consequently,":[56],"they":[57,99],"experience":[58],"theoretical":[60],"mismatch":[61],"this":[63,118],"regime,":[64],"leading":[65],"to":[66,82,151,202],"phenomenon":[68],"we":[69,120,144,165,181],"formally":[70],"identify":[71],"as":[72],"Statistical-Geometric":[73],"Degeneracy":[74],"(SGD)-a":[75],"state":[76],"where":[77,158,213],"estimator":[79],"stagnates":[80],"due":[81],"coupling":[84],"persistent":[86],"asymmetric":[87,140],"bias":[88],"and":[89,108,217],"limited":[90],"observation":[91],"geometry.":[92],"While":[93],"emerging":[94],"data-driven":[95],"approaches":[96],"offer":[97],"alternatives,":[98],"often":[100],"struggle":[101],"scarcity":[104],"training":[106],"data":[107,214],"sim-to-real":[110],"gap":[111],"inherent":[112],"unstructured":[114],"disaster":[115],"zones.":[116],"In":[117],"work,":[119],"propose":[121],"physically-grounded":[123],"solution,":[124],"AsymmetricHuberEKF,":[126],"which":[127,180],"explicitly":[128],"incorporates":[129],"prior":[133],"NLOS":[135],"biases":[136],"via":[137],"derived":[139],"function.":[142],"Theoretically,":[143],"show":[145],"that":[146,167],"filters":[149],"correspond":[150],"degenerate":[153],"case":[154],"our":[156,196],"framework":[157],"constraint":[161],"is":[162,215,219],"relaxed.":[163],"Furthermore,":[164],"demonstrate":[166],"resolving":[168],"SGD":[169],"requires":[170],"not":[171],"just":[172],"filter,":[175],"but":[176],"specific":[177],"bilateral":[178],"information,":[179],"achieve":[182],"through":[183],"co-designed":[185],"active":[186],"sensing":[187],"strategy.":[188],"Validated":[189],"2D":[192],"nadir-view":[193],"scanning":[194],"scenario,":[195],"approach":[197],"significantly":[198],"accelerates":[199],"convergence":[200],"compared":[201],"baselines,":[204],"offering":[205],"resilient":[207],"building":[208],"block":[209],"for":[210],"search":[211],"operations":[212],"scarce":[216],"geometry":[218],"constrained.":[220]},"counts_by_year":[],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2026-02-20T00:00:00"}
