{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:14:29Z","timestamp":1740147269360,"version":"3.37.3"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2018,9,24]],"date-time":"2018-09-24T00:00:00Z","timestamp":1537747200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61673350"],"award-info":[{"award-number":["61673350"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2019,1]]},"DOI":"10.1007\/s11370-018-0261-1","type":"journal-article","created":{"date-parts":[[2018,9,24]],"date-time":"2018-09-24T01:21:13Z","timestamp":1537752073000},"page":"69-86","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Range-based relative localization using a fixed number of measurements"],"prefix":"10.1007","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4398-812X","authenticated-orcid":false,"given":"Lin","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2018,9,24]]},"reference":[{"key":"261_CR1","unstructured":"Gilmour JH, Godleski JS, Carter RL et al (1992) Aircraft rendezvous using low data rate two-way TACAN bearing information. U.S. Patent 5,128,873"},{"key":"261_CR2","unstructured":"Uttam BJ, Amos DH, Covino JM et al (2007) Terrestrial radio-navigation systems. Kayton M, Fried WR Avionics navigation systems, 2nd edn. Wiley: Hoboken, pp 99\u2013177"},{"key":"261_CR3","doi-asserted-by":"crossref","unstructured":"Freitag L, Grund M, Singh S et al (2005) The WHOI micro-modem: An acoustic communications and navigation system for multiple platforms. In: Proceedings of OCEANS MTS\/IEEE, Vol. 2, pp 1086\u20131092","DOI":"10.1109\/OCEANS.2005.1639901"},{"key":"261_CR4","doi-asserted-by":"publisher","unstructured":"Xu B, Xiao YP, Gao W et al (2014) Dual-model reverse CKF algorithm in cooperative navigation for USV. Math Probl Eng \n                    https:\/\/doi.org\/10.1155\/2014\/186785","DOI":"10.1155\/2014\/186785"},{"issue":"4","key":"261_CR5","doi-asserted-by":"publisher","first-page":"957","DOI":"10.1109\/TRO.2013.2252857","volume":"29","author":"SE Webster","year":"2013","unstructured":"Webster SE, Walls JM, Whitcomb LL (2013) Decentralized extended information filter for single-beacon cooperative acoustic navigation: theory and experiments. IEEE Trans Robot 29(4):957\u2013974. \n                    https:\/\/doi.org\/10.1109\/TRO.2013.2252857","journal-title":"IEEE Trans Robot"},{"key":"261_CR6","doi-asserted-by":"crossref","unstructured":"Martinelli A, Siegwart R (2005) Observability analysis for mobile robot localization. In: Proceedings of IEEE\/RSJ international conference on intelligent robots and systems, pp 1471\u20131476","DOI":"10.1109\/IROS.2005.1545153"},{"key":"261_CR7","unstructured":"Nilsson JO, Handel P (2013) Recursive bayesian initialization of localization based on ranging and dead reckoning. In: Proceedings of IEEE\/RSJ international conference on intelligent robots and systems, pp 1399\u20131404"},{"key":"261_CR8","doi-asserted-by":"crossref","unstructured":"Strader J, Gu Y, Gross JN et al (2016) Cooperative relative localization for moving UAVs with single link range measurements. In: Proceedings of IEEE\/ION position, location and navigation symposium, pp 336\u2013343","DOI":"10.1109\/PLANS.2016.7479718"},{"key":"261_CR9","doi-asserted-by":"crossref","unstructured":"Trawny N, Roumeliotis SI (2010) On the global optimum of planar, range-based robot-to-robot relative pose estimation. In: IEEE international conference on robotics and automation, pp 3200\u20133206","DOI":"10.1109\/ROBOT.2010.5509541"},{"key":"261_CR10","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1007\/978-3-319-16595-0_6","volume":"107","author":"A Cornejo","year":"2015","unstructured":"Cornejo A, Nagpal R (2015) Distributed range-based relative localization of robot swarms. Springer Tracts Adv Robot 107:91\u2013107. \n                    https:\/\/doi.org\/10.1007\/978-3-319-16595-0_6","journal-title":"Springer Tracts Adv Robot"},{"issue":"6","key":"261_CR11","doi-asserted-by":"publisher","first-page":"1379","DOI":"10.1109\/TRO.2008.2006251","volume":"24","author":"XS Zhou","year":"2008","unstructured":"Zhou XS, Roumeliotis SI (2008) Robot-to-robot relative pose estimation from range measurements. IEEE Trans Robot 24(6):1379\u20131393. \n                    https:\/\/doi.org\/10.1109\/TRO.2008.2006251","journal-title":"IEEE Trans Robot"},{"key":"261_CR12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-03711-5","volume-title":"Data assimilation: the ensemble Kalman filter","author":"G Evensen","year":"2009","unstructured":"Evensen G (2009) Data assimilation: the ensemble Kalman filter, 2nd edn. Springer, Bergen","edition":"2"},{"issue":"10","key":"261_CR13","doi-asserted-by":"publisher","first-page":"1905","DOI":"10.1109\/9.793734","volume":"44","author":"FA Aliev","year":"1999","unstructured":"Aliev FA, Ozbek L (1999) Evaluation of convergence rate in the central limit theorem for the Kalman filter. IEEE Trans Autom Control 44(10):1905\u20131909. \n                    https:\/\/doi.org\/10.1109\/9.793734","journal-title":"IEEE Trans Autom Control"},{"issue":"8","key":"261_CR14","doi-asserted-by":"publisher","first-page":"1326","DOI":"10.1109\/9.940944","volume":"46","author":"B Delyon","year":"2001","unstructured":"Delyon B (2001) A note on uniform observability. IEEE Trans Autom Control 46(8):1326\u20131327. \n                    https:\/\/doi.org\/10.1109\/9.940944","journal-title":"IEEE Trans Autom Control"},{"key":"261_CR15","doi-asserted-by":"crossref","unstructured":"Dulmage J, Cioffi R, Fitz MP et al (2010) Characterization of distance error with received signal strength ranging. In: Proceedings of IEEE wireless communications and networking conference, pp 1\u20136","DOI":"10.1109\/WCNC.2010.5506590"},{"issue":"3","key":"261_CR16","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1007\/s00454-005-1225-8","volume":"35","author":"B Jackson","year":"2006","unstructured":"Jackson B, Jord\u00e1n T, Szabadka Z (2006) Globally linked pairs of vertices in equivalent realizations of graphs. Discrete Comput Geom 35(3):493\u2013512. \n                    https:\/\/doi.org\/10.1007\/s00454-005-1225-8","journal-title":"Discrete Comput Geom"},{"key":"261_CR17","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0703993104","author":"M Mesbahi","year":"2010","unstructured":"Mesbahi M, Egerstedt M (2010) Graph theoretic methods in multiagent networks. Princeton University Press, Princeton. \n                    https:\/\/doi.org\/10.1073\/pnas.0703993104","journal-title":"Princeton University Press, Princeton."},{"key":"261_CR18","doi-asserted-by":"crossref","unstructured":"Jackson B, Jord\u00e1n T, Szabadka Z (2014) Globally linked pairs of vertices in rigid frameworks. Robert C. Asia IW and Walter W Rigidity and symmetry. Springer, New York, pp 177\u2013203","DOI":"10.1007\/978-1-4939-0781-6_10"},{"key":"261_CR19","doi-asserted-by":"crossref","unstructured":"Gluck H (1975) Almost all simply connected closed surfaces are rigid. In: Proceedings of geometric topology conference, pp 225\u2013239","DOI":"10.1007\/BFb0066118"},{"key":"261_CR20","doi-asserted-by":"crossref","unstructured":"Alfakih AY (2014) Local, dimensional and universal rigidities: a unified gram matrix approach. Robert C. Asia IW and Walter W Rigidity and symmetry. Springer, New York, pp 41\u201360","DOI":"10.1007\/978-1-4939-0781-6_3"},{"issue":"4","key":"261_CR21","doi-asserted-by":"publisher","first-page":"897","DOI":"10.1353\/ajm.0.0132","volume":"132","author":"JG Steven","year":"2010","unstructured":"Steven JG, Alexander DH, Dylan PT (2010) Characterizing generic global rigidity. Am J Math 132(4):897\u2013939. \n                    https:\/\/doi.org\/10.1353\/ajm.0.0132","journal-title":"Am J Math"},{"issue":"1","key":"261_CR22","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.jctb.2004.11.002","volume":"94","author":"B Jackson","year":"2005","unstructured":"Jackson B, Jord\u00e1n T (2005) Connected rigidity matroids and unique realizations of graphs. J Comb Theory Ser B 94(1):1\u201329. \n                    https:\/\/doi.org\/10.1016\/j.jctb.2004.11.002","journal-title":"J Comb Theory Ser B"},{"issue":"2","key":"261_CR23","doi-asserted-by":"publisher","first-page":"346","DOI":"10.1006\/jcph.1997.5809","volume":"137","author":"DJ Jacobs","year":"1997","unstructured":"Jacobs DJ, Hendrickson B (1997) An algorithm for two-dimensional rigidity percolation: the pebble game. J Comput Phys 137(2):346\u2013365. \n                    https:\/\/doi.org\/10.1006\/jcph.1997.5809","journal-title":"J Comput Phys"},{"key":"261_CR24","unstructured":"Edwin O (2004) A primer on odometry and motor control. \n                    https:\/\/ocw.mit.edu\/courses\/electrical-engineering-and-computer-science\/6-186-mobile-autonomous-systems-laboratory-january-iap-2005\/study-materials\/odomtutorial.pdf\n                    \n                  . Accessed 2018\u20133\u201315"},{"key":"261_CR25","doi-asserted-by":"crossref","unstructured":"Diao Y, Hu G, Marelli D et al (2014) Cooperative localization of a cascading quadrilateral network. In: Proceedings of 11th IEEE international conference on control & automation (ICCA), pp 13\u201318","DOI":"10.1109\/ICCA.2014.6870888"},{"key":"261_CR26","doi-asserted-by":"crossref","unstructured":"Eren T, Goldenberg DK, Whiteley W et al (2004) Rigidity, computation, and randomization in network localization. In: Proceedings of twenty-third annual joint conference of the IEEE computer and communications societies, pp 2673\u20132684","DOI":"10.1109\/INFCOM.2004.1354686"},{"issue":"1","key":"261_CR27","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/2632150","volume":"11","author":"M Naraghi-Pour","year":"2014","unstructured":"Naraghi-Pour M, Rojas GC (2014) A novel algorithm for distributed localization in wireless sensor networks. ACM Trans Sens Netw 11(1):1\u201325. \n                    https:\/\/doi.org\/10.1145\/2632150","journal-title":"ACM Trans Sens Netw"},{"key":"261_CR28","unstructured":"Strydom R, Thurrowgood S, Srinivasan MV (2014) Visual odometry: autonomous UAV navigation using optic flow and stereo. In: Proceedings of Australasian conference on robotics & automation"},{"issue":"11","key":"261_CR29","doi-asserted-by":"publisher","first-page":"6335","DOI":"10.1109\/JSEN.2015.2456337","volume":"15","author":"T Mouats","year":"2015","unstructured":"Mouats T, Aouf N, Chermak L et al (2015) Thermal stereo odometry for UAVs. IEEE Sens J 15(11):6335\u20136347. \n                    https:\/\/doi.org\/10.1109\/JSEN.2015.2456337","journal-title":"IEEE Sens J"},{"key":"261_CR30","first-page":"80","volume":"18","author":"BD Scaramuzza","year":"2011","unstructured":"Scaramuzza BD, Fraundorfer F, Fraundorfer BF (2011) IEEE Robot Autom Mag. Visual odometry 18:80\u201392","journal-title":"Visual odometry"},{"key":"261_CR31","unstructured":"Papoulis A, Pillai SU (2002) One function of two random variables. In: Probability, random variables, and stochastic processes, 4th edn. The McGraw-Hill Companies, pp 190\u2013192"},{"key":"261_CR32","doi-asserted-by":"crossref","unstructured":"Arfken GB, Weber HJ, Harris FE (2013) Probability and statistics. In: Mathematical methods for physicists, 7th edn. Academic Press, pp 1125\u20131179.","DOI":"10.1016\/B978-0-12-384654-9.00023-2"},{"key":"261_CR33","doi-asserted-by":"crossref","unstructured":"Ploskas N, Samaras N (2016) Parallel computing toolbox. In: GPU program MATLAB, Todd Green, pp 37\u201370.","DOI":"10.1016\/B978-0-12-805132-0.00003-5"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11370-018-0261-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-018-0261-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-018-0261-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,23]],"date-time":"2019-09-23T19:26:13Z","timestamp":1569266773000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11370-018-0261-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9,24]]},"references-count":33,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,1]]}},"alternative-id":["261"],"URL":"https:\/\/doi.org\/10.1007\/s11370-018-0261-1","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"type":"print","value":"1861-2776"},{"type":"electronic","value":"1861-2784"}],"subject":[],"published":{"date-parts":[[2018,9,24]]},"assertion":[{"value":"12 September 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 September 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 September 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}