{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T15:32:11Z","timestamp":1774020731699,"version":"3.50.1"},"reference-count":28,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,10,23]]},"DOI":"10.1109\/iros47612.2022.9981301","type":"proceedings-article","created":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T14:38:15Z","timestamp":1672065495000},"page":"2431-2437","source":"Crossref","is-referenced-by-count":16,"title":["Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements"],"prefix":"10.1109","author":[{"given":"Charles Champagne","family":"Cossette","sequence":"first","affiliation":[{"name":"McGill University,Department of Mech. Engineering"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohammed Ayman","family":"Shalaby","sequence":"additional","affiliation":[{"name":"McGill University,Department of Mech. Engineering"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Saussi\u00e9","sequence":"additional","affiliation":[{"name":"Polytechnique Montr&#x00E9;al.,Department of Electrical Engineering"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J\u00e9r\u00f4me Le","family":"Ny","sequence":"additional","affiliation":[{"name":"McGill University,Department of Mech. Engineering"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James Richard","family":"Forbes","sequence":"additional","affiliation":[{"name":"Polytechnique Montr&#x00E9;al.,Department of Electrical Engineering"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196944"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3015593"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759054"},{"key":"ref14","first-page":"13","article-title":"Infrastructure-free Localization of Aerial Robots with Ultrawideband Sensors","author":"guler","year":"2019","journal-title":"American Control Conference"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2011.05.004"},{"key":"ref10","first-page":"1","author":"nguyen","year":"2022","journal-title":"Relative Transformation Estimation Based on Fusion of Odometry and UWB Ranging Data"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.5772\/55587"},{"key":"ref1","author":"li","year":"2021","journal-title":"Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.23919\/ICIF.2018.8455789"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3067253"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2020.12.2372"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830326"},{"key":"ref24","author":"bar-shalom","year":"2001","journal-title":"Estimation with Applications to Tracking and Navigation"},{"key":"ref23","author":"barfoot","year":"2019","journal-title":"State Estimation for Robotics"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1515\/9781400830244"},{"key":"ref25","author":"bonnabel","year":"0","journal-title":"An Intrinsic Cram&#x00E9;r-Rao bound on Lie Groups"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2018.8431528"},{"key":"ref22","first-page":"1","author":"sol\u00e0","year":"2018","journal-title":"A Micro Lie Theory for State Estimation in Robotics"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560750"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965882"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2015.12.010"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2954677"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2926671"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3067640"},{"key":"ref4","author":"queralta","year":"2020","journal-title":"Vio-uwb-based collaborative localization and dense scene reconstruction within heterogeneous multi-robot systems"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511541056"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2019.2905570"},{"key":"ref5","first-page":"1","author":"xu","year":"2021","journal-title":"Omni-swarm A decentralized omnidirectional visual-inertial-uwb state estimation system for aerial swarm"}],"event":{"name":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Kyoto, Japan","start":{"date-parts":[[2022,10,23]]},"end":{"date-parts":[[2022,10,27]]}},"container-title":["2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9981026\/9981028\/09981301.pdf?arnumber=9981301","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,30]],"date-time":"2023-11-30T18:14:32Z","timestamp":1701368072000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9981301\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,23]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/iros47612.2022.9981301","relation":{},"subject":[],"published":{"date-parts":[[2022,10,23]]}}}