{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T19:07:30Z","timestamp":1771700850335,"version":"3.50.1"},"reference-count":8,"publisher":"World Scientific Pub Co Pte Ltd","issue":"03","funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1526551"],"award-info":[{"award-number":["1526551"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2017,7]]},"abstract":"<jats:p> In this paper, we solve a discrete-time bearing-only cooperative localization problem for a team of autonomous vehicles with a special focus on switching sensing topology. A centralized Extended Kalman Filter (EKF) is used for jointly estimating position and heading of all the vehicles using local motion and relative bearing measurements. We derive discrete-time conditions for switching relative sensing topology. Furthermore, we use cooperative synchronization for generating vehicle paths that satisfy the observability conditions. The conditions are verified through simulation and experimental results. <\/jats:p>","DOI":"10.1142\/s2301385017400039","type":"journal-article","created":{"date-parts":[[2017,8,1]],"date-time":"2017-08-01T04:34:21Z","timestamp":1501562061000},"page":"141-157","source":"Crossref","is-referenced-by-count":14,"title":["Observability Conditions for Switching Sensing Topology for Cooperative Localization"],"prefix":"10.1142","volume":"05","author":[{"given":"Anusna","family":"Chakraborty","sequence":"first","affiliation":[{"name":"Aerospace Engineering and Engineering Mechanics, University of Cincinnati, Cincinnati, OH 45221, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sohum","family":"Misra","sequence":"additional","affiliation":[{"name":"Aerospace Engineering and Engineering Mechanics, University of Cincinnati, Cincinnati, OH 45221, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rajnikant","family":"Sharma","sequence":"additional","affiliation":[{"name":"Aerospace Engineering and Engineering Mechanics, University of Cincinnati, Cincinnati, OH 45221, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Clark. N.","family":"Taylor","sequence":"additional","affiliation":[{"name":"Sensors Directorate, AFRL, Wright Patterson Air Force Base, Dayton, OH 45433, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2017,10,10]]},"reference":[{"key":"S2301385017400039BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878957"},{"key":"S2301385017400039BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803461"},{"key":"S2301385017400039BIB007","doi-asserted-by":"publisher","DOI":"10.1163\/156855398X00235"},{"key":"S2301385017400039BIB012","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908100561"},{"key":"S2301385017400039BIB013","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9809-z"},{"key":"S2301385017400039BIB014","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0094-x"},{"key":"S2301385017400039BIB017","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9809-z"},{"key":"S2301385017400039BIB022","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2172699"}],"container-title":["Unmanned Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S2301385017400039","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,20]],"date-time":"2019-09-20T09:41:03Z","timestamp":1568972463000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S2301385017400039"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7]]},"references-count":8,"journal-issue":{"issue":"03","published-online":{"date-parts":[[2017,10,10]]},"published-print":{"date-parts":[[2017,7]]}},"alternative-id":["10.1142\/S2301385017400039"],"URL":"https:\/\/doi.org\/10.1142\/s2301385017400039","relation":{},"ISSN":["2301-3850","2301-3869"],"issn-type":[{"value":"2301-3850","type":"print"},{"value":"2301-3869","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,7]]}}}