{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T14:31:26Z","timestamp":1772548286459,"version":"3.50.1"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2019,4,23]],"date-time":"2019-04-23T00:00:00Z","timestamp":1555977600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1007\/s10846-019-01021-1","type":"journal-article","created":{"date-parts":[[2019,4,23]],"date-time":"2019-04-23T06:02:28Z","timestamp":1555999348000},"page":"227-237","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Improved MDS-based Localization with Non-line-of-sight RF Links"],"prefix":"10.1007","volume":"98","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7962-2835","authenticated-orcid":false,"given":"Moses A.","family":"Koledoye","sequence":"first","affiliation":[]},{"given":"Tullio","family":"Facchinetti","sequence":"additional","affiliation":[]},{"given":"Luis","family":"Almeida","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,4,23]]},"reference":[{"key":"1021_CR1","unstructured":"nanoLoc development kit user guide. Nanotron Technologies GmbH, Berlin, Germany, Technical Report NA-06-0230-0402-1.03 (2007)"},{"key":"1021_CR2","doi-asserted-by":"publisher","unstructured":"Ahmed, A.A., Shi, H., Shang, Y.: Sharp: a new approach to relative localization in wireless sensor networks. In: 25Th IEEE International Conference on Distributed Computing Systems Workshops, pp. 892\u2013898. \nhttps:\/\/doi.org\/10.1109\/ICDCSW.2005.125\n\n (2005)","DOI":"10.1109\/ICDCSW.2005.125"},{"key":"1021_CR3","unstructured":"Alavi, B., Pahlavan, K.: Modeling of the distance error for indoor geolocation. In: 2003 IEEE Wireless Communications and Networking, 2003. WCNC 2003., Vol. 1, pp. 668\u2013672 (2003)"},{"key":"1021_CR4","doi-asserted-by":"publisher","unstructured":"Bai, Y., Jia, W., Zhang, H., Mao, Z., Sun, M.: Landmark-based indoor positioning for visually impaired individuals. In: 2014 12Th International Conference on Signal Processing (ICSP), pp. 668\u2013671. \nhttps:\/\/doi.org\/10.1109\/ICOSP.2014.7015087\n\n (2014)","DOI":"10.1109\/ICOSP.2014.7015087"},{"key":"1021_CR5","volume-title":"Modern multidimensional scaling: Theory and applications","author":"I Borg","year":"2005","unstructured":"Borg, I., Groenen, P.: Modern multidimensional scaling: Theory and applications. Springer, Berlin (2005)"},{"key":"1021_CR6","unstructured":"Borras, J., Hatrack, P., Mandayam, N.B.: Decision theoretic framework for NLOS identification. In: Vehicular Technology Conference, 1998. VTC 98. 48Th IEEE, vol. 2, pp. 1583\u20131587 (1998)"},{"issue":"2","key":"1021_CR7","doi-asserted-by":"publisher","first-page":"560","DOI":"10.1109\/TWC.2004.843040","volume":"4","author":"L Cong","year":"2005","unstructured":"Cong, L., Zhuang, W.: Nonline-of-sight error mitigation in mobile location. IEEE Trans. Wirel. Commun. 4(2), 560\u2013573 (2005)","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"1021_CR8","doi-asserted-by":"crossref","unstructured":"Di Franco, C., Bini, E., Marinoni, M., Buttazzo, G.C.: Multidimensional scaling localization with anchors. In: 2017 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 49\u201354 (2017)","DOI":"10.1109\/ICARSC.2017.7964051"},{"key":"1021_CR9","doi-asserted-by":"crossref","unstructured":"Di Franco, C., Melani, A., Marinoni, M.: Solving ambiguities in MDS relative localization. In: 2015 International Conference on Advanced Robotics (ICAR), pp. 230\u2013236 (2015)","DOI":"10.1109\/ICAR.2015.7251461"},{"key":"1021_CR10","doi-asserted-by":"publisher","unstructured":"Galov, A., Moschevikin, A., Voronov, R.: Combination of Rss localization and Tof ranging for increasing positioning accuracy indoors. In: 2011 11Th International Conference on ITS Telecommunications, pp. 299\u2013304. \nhttps:\/\/doi.org\/10.1109\/ITST.2011.6060072\n\n (2011)","DOI":"10.1109\/ITST.2011.6060072"},{"key":"1021_CR11","doi-asserted-by":"crossref","unstructured":"G\u00fcven\u00e7, \u0130., Chong, C.C., Watanabe, F.: NLOS identification and mitigation for UWB localization systems. In: 2007 IEEE Wireless Communications and Networking Conference, pp. 1571\u20131576 (2007)","DOI":"10.1109\/WCNC.2007.296"},{"issue":"1","key":"1021_CR12","doi-asserted-by":"publisher","first-page":"271984","DOI":"10.1155\/2008\/271984","volume":"2008","author":"\u0130 G\u00fcven\u00e7","year":"2007","unstructured":"G\u00fcven\u00e7, \u0130., Chong, C.C., Watanabe, F., Inamura, H.: NLOS identification and weighted least-squares localization for UWB systems using multipath channel statistics. EURASIP Journal on Advances in Signal Processing 2008(1), 271984 (2007)","journal-title":"EURASIP Journal on Advances in Signal Processing"},{"key":"1021_CR13","doi-asserted-by":"crossref","unstructured":"Heidari, M., Akgul, F.O., Alsindi, N.A., Pahlavan, K.: Neural network assisted identification of the absence of direct path in indoor localization. In: IEEE GLOBECOM 2007 - IEEE Global Telecommunications Conference, pp. 387\u2013392 (2007)","DOI":"10.1109\/GLOCOM.2007.79"},{"key":"1021_CR14","doi-asserted-by":"crossref","unstructured":"Heidari, M., Akgul, F.O., Pahlavan, K.: Identification of the absence of direct path in indoor localization systems. In: 2007 IEEE 18Th International Symposium on Personal, Indoor and Mobile Radio Communications, pp. 1\u20136 (2007)","DOI":"10.1109\/PIMRC.2007.4394450"},{"key":"1021_CR15","doi-asserted-by":"publisher","unstructured":"Holm, S.: Ultrasound positioning based on Time-Of-Flight and signal strength. In: 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp. 1\u20136. \nhttps:\/\/doi.org\/10.1109\/IPIN.2012.6418728\n\n (2012)","DOI":"10.1109\/IPIN.2012.6418728"},{"key":"1021_CR16","doi-asserted-by":"crossref","unstructured":"Koledoye, M.A., Facchinetti, T., Almeida, L.: MDS-based localization with known anchor locations and missing tag-to-tag distances. In: 2017 22Nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Pp. 1\u20134 (2017)","DOI":"10.1109\/ETFA.2017.8247768"},{"key":"1021_CR17","doi-asserted-by":"crossref","unstructured":"Koledoye, M.A., Facchinetti, T., Almeida, L.: Mitigating effects of NLOS propagation in MDS-based localization with anchors. In: IEEE International Conference on Autonomous Robot Systems and Competitions ICARSC (2018)","DOI":"10.1109\/ICARSC.2018.8374175"},{"issue":"2","key":"1021_CR18","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1007\/BF01897162","volume":"5","author":"J Leeuw de","year":"1988","unstructured":"de Leeuw, J.: Convergence of the majorization method for multidimensional scaling. J. Classif. 5(2), 163\u2013180 (1988)","journal-title":"J. Classif."},{"issue":"1","key":"1021_CR19","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1007\/BF01896814","volume":"3","author":"J Leeuw de","year":"1986","unstructured":"de Leeuw, J., Meulman, J.: A special jackknife for multidimensional scaling. J. Classif. 3(1), 97\u2013112 (1986)","journal-title":"J. Classif."},{"key":"1021_CR20","volume-title":"B.V.C.: Applications of convex analysis to multidimensional scaling","year":"1977","unstructured":"Leeuw, J.D., Barra, I.J.R., Brodeau, F., Romier, G. (eds.): B.V.C.: Applications of convex analysis to multidimensional scaling. North Holland Publishing Company, Amsterdam (1977)"},{"issue":"4","key":"1021_CR21","doi-asserted-by":"publisher","first-page":"222","DOI":"10.1504\/IJAHUC.2006.010503","volume":"1","author":"X Li","year":"2006","unstructured":"Li, X., Shi, H., Shang, Y.: Sensor network localisation based on sorted rssi quantisation. Int. J. Ad Hoc Ubiquitous Comput. 1(4), 222\u2013229 (2006)","journal-title":"Int. J. Ad Hoc Ubiquitous Comput."},{"issue":"8","key":"1021_CR22","doi-asserted-by":"publisher","first-page":"2137","DOI":"10.1109\/TSP.2003.814469","volume":"51","author":"N Patwari","year":"2003","unstructured":"Patwari, N., Hero, A.O., Perkins, M., Correal, N.S., O\u2019Dea, R.J.: Relative location estimation in wireless sensor networks. IEEE Trans. Signal Process. 51(8), 2137\u20132148 (2003). \nhttps:\/\/doi.org\/10.1109\/TSP.2003.814469","journal-title":"IEEE Trans. Signal Process."},{"issue":"2","key":"1021_CR23","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1093\/comjnl\/7.2.155","volume":"7","author":"MJD Powell","year":"1964","unstructured":"Powell, M.J.D.: An efficient method for finding the minimum of a function of several variables without calculating derivatives. Comput. J. 7(2), 155\u2013162 (1964)","journal-title":"Comput. J."},{"key":"1021_CR24","doi-asserted-by":"crossref","unstructured":"R\u00f6hrig, C., M\u00fcller, M.: Indoor location tracking in non-line-of-sight environments using a Ieee 802.15.4A wireless network. In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 552\u2013557 (2009)","DOI":"10.1109\/IROS.2009.5354747"},{"key":"1021_CR25","doi-asserted-by":"crossref","unstructured":"Shang, Y., Ruml, W., Zhang, Y., Fromherz, M.P.J.: Localization from mere connectivity. In: Proceedings of the 4th ACM International Symposium on Mobile Ad Hoc Networking &Amp; Computing, MobiHoc \u201903, pp. 201\u2013212. ACM, New York (2003)","DOI":"10.1145\/778415.778439"},{"key":"1021_CR26","doi-asserted-by":"crossref","unstructured":"Shi, W., Wong, V.W.S.: MDS-based localization algorithm for RFID systems. In: 2011 IEEE International Conference on Communications (ICC), pp. 1\u20136 (2011)","DOI":"10.1109\/icc.2011.5962800"},{"key":"1021_CR27","doi-asserted-by":"publisher","unstructured":"Ussmueller, T., Brenk, D., Essel, J., Heidrich, J., Fischer, G., Weigel, R.: Roundtrip-time-of-flight based localization of passive multi-standard Rfid-Tags. In: 2012 IEEE International Conference on Wireless Information Technology and Systems (ICWITS), pp. 1\u20134. \nhttps:\/\/doi.org\/10.1109\/ICWITS.2012.6417725\n\n (2012)","DOI":"10.1109\/ICWITS.2012.6417725"},{"issue":"6","key":"1021_CR28","doi-asserted-by":"publisher","first-page":"1120","DOI":"10.1049\/iet-map:20060273","volume":"1","author":"S Venkatesh","year":"2007","unstructured":"Venkatesh, S., Buehrer, R.M.: Non-line-of-sight identification in ultra-wideband systems based on received signal statistics. IET Microwaves Antennas Propag. 1(6), 1120\u20131130 (2007)","journal-title":"IET Microwaves Antennas Propag."},{"key":"1021_CR29","doi-asserted-by":"publisher","unstructured":"Wang, Q., Luo, H., Zhao, F., Shao, W.: An indoor self-localization algorithm using the calibration of the online magnetic fingerprints and indoor landmarks. In: 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp. 1\u20138. \nhttps:\/\/doi.org\/10.1109\/IPIN.2016.7743595\n\n (2016)","DOI":"10.1109\/IPIN.2016.7743595"},{"issue":"6","key":"1021_CR30","doi-asserted-by":"publisher","first-page":"2048","DOI":"10.1109\/TVT.2005.858177","volume":"54","author":"W Wei","year":"2005","unstructured":"Wei, W., Jin-Yu, X., Zhong-Liang, Z.: A new NLOS error mitigation algorithm in location estimation. IEEE Trans. Veh. Technol. 54(6), 2048\u20132053 (2005). \nhttps:\/\/doi.org\/10.1109\/TVT.2005.858177","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"4","key":"1021_CR31","doi-asserted-by":"publisher","first-page":"2342","DOI":"10.1109\/TVT.2007.912598","volume":"57","author":"K Yu","year":"2008","unstructured":"Yu, K., Guo, Y.J.: Improved positioning algorithms for nonline-of-sight environments. IEEE Trans. Veh. Technol. 57(4), 2342\u20132353 (2008)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"1021_CR32","doi-asserted-by":"crossref","unstructured":"Yu, K., Guo, Y.J.: Non-Line-Of-Sight Detection Based on Toa and Signal Strength. In: 2008 IEEE 19Th International Symposium on Personal, Indoor and Mobile Radio Communications, pp. 1\u20135 (2008)","DOI":"10.1109\/PIMRC.2008.4699474"},{"issue":"1","key":"1021_CR33","doi-asserted-by":"publisher","first-page":"274","DOI":"10.1109\/TVT.2008.924975","volume":"58","author":"K Yu","year":"2009","unstructured":"Yu, K., Guo, Y.J.: Statistical NLOS identification based on AOA, TOA, and signal strength. IEEE Trans. Veh. Technol. 58(1), 274\u2013286 (2009)","journal-title":"IEEE Trans. Veh. Technol."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01021-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01021-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01021-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,4,21]],"date-time":"2020-04-21T23:10:08Z","timestamp":1587510608000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01021-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4,23]]},"references-count":33,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["1021"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01021-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,4,23]]},"assertion":[{"value":"23 June 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 April 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 April 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}