{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T19:26:33Z","timestamp":1769541993438,"version":"3.49.0"},"reference-count":44,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"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":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2026]]},"DOI":"10.1109\/tro.2025.3637127","type":"journal-article","created":{"date-parts":[[2025,11,25]],"date-time":"2025-11-25T18:31:19Z","timestamp":1764095479000},"page":"281-301","source":"Crossref","is-referenced-by-count":0,"title":["Scalable Factor Graph-Based Heterogeneous Bayesian DDF for Dynamic Systems"],"prefix":"10.1109","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2500-3887","authenticated-orcid":false,"given":"Ofer","family":"Dagan","sequence":"first","affiliation":[{"name":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, CO, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tycho L.","family":"Cinquini","sequence":"additional","affiliation":[{"name":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, CO, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7555-5671","authenticated-orcid":false,"given":"Nisar R.","family":"Ahmed","sequence":"additional","affiliation":[{"name":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, CO, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1145\/504729.504754"},{"key":"ref2","first-page":"666","article-title":"Factor graphs and algorithms","volume-title":"Proc. 35th Allerton Conf. Communications, Control, Comput.","author":"Frey","year":"1997"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-061520-010504"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3226115"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.23919\/FUSION49465.2021.9626865"},{"key":"ref6","first-page":"5840","article-title":"Conservative filtering for heterogeneous decentralized data fusion in dynamic robotic systems","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst","author":"Dagan","year":"2022"},{"key":"ref7","first-page":"9262","article-title":"Non-linear heterogeneous Bayesian decentralized data fusion","volume-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst.","author":"Dagan","year":"2023"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.1983.4788119"},{"key":"ref9","first-page":"436","article-title":"Robust probabilistic inference in distributed systems","volume-title":"Proc. 20th Conf. Uncertainty Artif. Intell.","author":"Paskin","year":"2004"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631323"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3137751"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2017.2691665"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696534"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2930404"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.899177"},{"key":"ref16","first-page":"31","article-title":"From specification to inference engine","volume-title":"Probabilistic Networks and Expert Systems: Exact Computational Methods for Bayesian Networks","author":"Cowell","year":"2007"},{"key":"ref17","first-page":"545","article-title":"Decentralised data fusion: A graphical model approach","volume-title":"Proc. 12th Int. Conf. Inf. Fusion","author":"Makarenko","year":"2009"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.2514\/1.49170"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803461"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1995.529783"},{"key":"ref21","first-page":"614","article-title":"Graphical models for nonlinear distributed estimation","volume-title":"Proc. Proc. 7th Int. Conf. Inf. Fusion","author":"Chong","year":"2004"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211056674"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341176"},{"key":"ref24","article-title":"Towards decentralized heterogeneous multi-robot SLAM and target tracking","author":"Dagan","year":"2023"},{"key":"ref25","volume-title":"Probabilistic Graphical Models: Principles and Techniques, Ser. Adaptive Computation and Machine Learning","author":"Koller","year":"2009"},{"key":"ref26","article-title":"Manipulating the multivariate Gaussian density","volume":"166","author":"Schon","year":"2011"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICIF.2005.1591975"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1016\/0967-0661(94)90349-2"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1997.609105"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906075026"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095128"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906954"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2022.07.014"},{"key":"ref34","first-page":"257","article-title":"Extending factor graphs so as to unify directed and undirected graphical models","volume-title":"Proc. 19th Conf. Uncertainty Artif. Intell.","author":"Frey","year":"2002"},{"issue":"12","key":"ref35","first-page":"1","article-title":"Factor graphs for robot perception","volume-title":"Foundations Trends Robot.","volume":"6","author":"Dellaert","year":"2017"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.23919\/FUSION43075.2019.9011344"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/18.910572"},{"key":"ref38","first-page":"479","article-title":"A revolution: Belief propagation in graphs with cycles","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"10","author":"Frey","year":"1997"},{"issue":"2","key":"ref39","first-page":"153","article-title":"Extended message passing algorithm for inference in loopy Gaussian graphical models","volume-title":"Ad Hoc Netw.","volume":"2","author":"Plarre","year":"2004"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-17452-0_10"},{"key":"ref41","first-page":"1862","article-title":"Treatment of biased and dependent sensor data in graph-based SLAM","volume-title":"Proc. 18th Int. Conf. Inf. Fusion","author":"Noack","year":"2015"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279.ch3"},{"key":"ref43","volume-title":"Multitarget-Multisensor Tracking: Principles and Techniques","volume":"19","author":"Bar-Shalom","year":"1995"},{"key":"ref44","article-title":"Thin junction tree filters for simultaneous localization and mapping","author":"Paskin","year":"2002"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/11297026\/11267241.pdf?arnumber=11267241","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T06:10:10Z","timestamp":1769494210000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11267241\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026]]},"references-count":44,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3637127","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026]]}}}