{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T02:58:11Z","timestamp":1777604291917,"version":"3.51.4"},"reference-count":88,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,9,3]],"date-time":"2021-09-03T00:00:00Z","timestamp":1630627200000},"content-version":"vor","delay-in-days":245,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100007194","name":"Universidad de Santiago de Chile","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100007194","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>Due to its widespread application in the robotics field, the Kalman filter has received increased attention from researchers. This work reviews some of the modifications conducted on to this algorithm over the last years. Problems such as the consistency, convergence, and accuracy of the filter are also dealt with. Sixty years after its creation, the Kalman filter is still used in autonomous navigation processes, robot control, and trajectory tracking, among other activities. The filter is not only restricted to robotics but is also present in different fields, such as economics and medicine. In addition, the characteristics of each modification on this filter are analyzed and compared.<\/jats:p>","DOI":"10.1155\/2021\/9674015","type":"journal-article","created":{"date-parts":[[2021,9,3]],"date-time":"2021-09-03T22:35:29Z","timestamp":1630708529000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":137,"title":["Kalman Filter: Historical Overview and Review of Its Use in Robotics 60 Years after Its Creation"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7197-8928","authenticated-orcid":false,"given":"Claudio","family":"Urrea","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7395-5874","authenticated-orcid":false,"given":"Rayko","family":"Agramonte","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,9,3]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"e_1_2_9_2_2","volume-title":"State Space Modeling of Time Series","author":"Aoki M.","year":"2013"},{"key":"e_1_2_9_3_2","unstructured":"McgeeL. A.andSchmidtS. F. Discovery of the Kalman filter as a practical tool for aerospace and industry 1985 NASA-TM-86847 California https:\/\/ntrs.nasa.gov\/citations\/19860003843."},{"key":"e_1_2_9_4_2","volume-title":"Manual of Offshore Surveying for Geoscientists and Engineers","author":"Loweth R. P.","year":"2012"},{"key":"e_1_2_9_5_2","doi-asserted-by":"crossref","unstructured":"WangM. YanG. andSunX. A new incremental Kalman filter under poor observation condition 2017 2nd International Conference on Robotics and Automation Engineering (ICRAE) December 2017 Shanghai 469\u2013472 https:\/\/doi.org\/10.1109\/ICRAE.2017.8291432 2-s2.0-85050339082.","DOI":"10.1109\/ICRAE.2017.8291432"},{"key":"e_1_2_9_6_2","unstructured":"AgarwalP. S. V. RoyK. andPkK. A tutorial on dynamic simulation of DC motor and implementation of Kalman filter on a floating point DSP 2009 53rd edition World Academy of Science Engineering and Technology."},{"key":"e_1_2_9_7_2","first-page":"293","volume-title":"Advances in Control Systems","author":"Schmidt S. F.","year":"1966"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1117\/12.280797"},{"key":"e_1_2_9_9_2","doi-asserted-by":"crossref","unstructured":"WanE. A.andVan Der MerweR. The unscented Kalman filter for nonlinear estimation Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing Communications and Control Symposium (Cat. No.00EX373) 2000 Lake Louise Alta. Canada 153\u2013158 https:\/\/doi.org\/10.1109\/ASSPCC.2000.882463 2-s2.0-84962432583.","DOI":"10.1109\/ASSPCC.2000.882463"},{"key":"e_1_2_9_10_2","doi-asserted-by":"crossref","unstructured":"JulierS. J. The scaled unscented transformation 6 Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) 2002 Anchorage AK USA 4555\u20134559 https:\/\/doi.org\/10.1109\/ACC.2002.1025369.","DOI":"10.1109\/ACC.2002.1025369"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.2006929"},{"key":"e_1_2_9_12_2","doi-asserted-by":"crossref","unstructured":"BonnableS. MartinP. andSala\u00fcnE. Invariant extended Kalman filter: theory and application to a velocity-aided attitude estimation problem Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference December 2009 Shanghai China 1297\u20131304 https:\/\/doi.org\/10.1109\/CDC.2009.5400372 2-s2.0-77950811644.","DOI":"10.1109\/CDC.2009.5400372"},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105010"},{"key":"e_1_2_9_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/s001900050236"},{"key":"e_1_2_9_15_2","doi-asserted-by":"crossref","unstructured":"YuzhenP. QuandeY. andBenfaZ. The application of adaptive extended Kalman filter in mobile robot localization 2016 Chinese Control and Decision Conference (CCDC) May 2016 Yinchuan China 5337\u20135342 https:\/\/doi.org\/10.1109\/CCDC.2016.7531952 2-s2.0-84983776593.","DOI":"10.1109\/CCDC.2016.7531952"},{"key":"e_1_2_9_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2005.10.004"},{"key":"e_1_2_9_17_2","doi-asserted-by":"crossref","unstructured":"Van der MerweR.andWanE. A. The square-root unscented Kalman filter for state and parameter-estimation 6 2001 IEEE international conference on acoustics Speech and Signal Processing. Proceedings (Cat. No.01CH37221) 2001 Salt Lake City UT USA 3461\u20133464 https:\/\/doi.org\/10.1109\/ICASSP.2001.940586.","DOI":"10.1109\/ICASSP.2001.940586"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0857-x"},{"key":"e_1_2_9_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2006.1603413"},{"key":"e_1_2_9_20_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.G002805"},{"key":"e_1_2_9_21_2","unstructured":"RoumeliotisS. I. KottasD. G. GuoC. andHeschJ. Observability-constrained vision-aided inertial navigation 2016 US9243916B2 January 2021 https:\/\/patents.google.com\/patent\/US9243916B2\/en."},{"key":"e_1_2_9_22_2","unstructured":"N\u00f8rgaardM. PoulsenN. K. andRavnO. Advances in derivative-free state estimation for nonlinear systems 1998 January 2021 https:\/\/orbit.dtu.dk\/en\/publications\/advances-in-derivative-free-state-estimation-for-nonlinear-system."},{"key":"e_1_2_9_23_2","doi-asserted-by":"crossref","unstructured":"ItoK. Gaussian filter for nonlinear filtering problems 2000 2 1218\u20131223.","DOI":"10.1109\/CDC.2000.912021"},{"key":"e_1_2_9_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.03.006"},{"key":"e_1_2_9_25_2","doi-asserted-by":"publisher","DOI":"10.1002\/0471221546"},{"key":"e_1_2_9_26_2","doi-asserted-by":"crossref","unstructured":"LaskarM. N. U. TawhidM. N. A. andChungT. Extended Kalman filter (EKF) and K-means clustering approach for state space decomposition of autonomous mobile robots 2012 7th International Conference on Electrical and Computer Engineering December 2012 Dhaka Bangladesh 113\u2013116 https:\/\/doi.org\/10.1109\/ICECE.2012.6471498 2-s2.0-84875502690.","DOI":"10.1109\/ICECE.2012.6471498"},{"key":"e_1_2_9_27_2","article-title":"Comparison of adaptive Kalman filter methods in state estimation of a nonlinear system using asynchronous measurements","volume":"2179","author":"Vahid F.","year":"2009","journal-title":"Lecture Notes in Engineering and Computer Science"},{"key":"e_1_2_9_28_2","unstructured":"KimK. H. (An)Adaptive filter design for a fault tolerant navigation system 2006 Thesis Graduate School of the University of Seoul June 2021 https:\/\/s-space.snu.ac.kr\/handle\/10371\/45362."},{"key":"e_1_2_9_29_2","doi-asserted-by":"crossref","unstructured":"SpanosD. P. Olfati-SaberR. andMurrayR. M. Approximate distributed Kalman filtering in sensor networks with quantifiable performance IPSN 2005. Fourth International Symposium on Information Processing in Sensor Networks 2005 April 2005 Boise ID USA 133\u2013139 https:\/\/doi.org\/10.1109\/IPSN.2005.1440912 2-s2.0-33744926162.","DOI":"10.1109\/IPSN.2005.1440912"},{"key":"e_1_2_9_30_2","doi-asserted-by":"crossref","unstructured":"Olfati-SaberR. Distributed Kalman filter with embedded consensus filters Proceedings of the 44th IEEE Conference on Decision and Control December 2005 Seville Spain 8179\u20138184 https:\/\/doi.org\/10.1109\/CDC.2005.1583486 2-s2.0-33645001047.","DOI":"10.1109\/CDC.2005.1583486"},{"key":"e_1_2_9_31_2","doi-asserted-by":"crossref","unstructured":"Olfati-SaberR. Distributed Kalman filtering for sensor networks 2007 46th IEEE Conference on Decision and Control December 2007 New Orleans LA USA 5492\u20135498 https:\/\/doi.org\/10.1109\/CDC.2007.4434303 2-s2.0-52449120719.","DOI":"10.1109\/CDC.2007.4434303"},{"key":"e_1_2_9_32_2","doi-asserted-by":"publisher","DOI":"10.3182\/20100913-2-FR-4014.00049"},{"key":"e_1_2_9_33_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-8997-2_14"},{"key":"e_1_2_9_34_2","doi-asserted-by":"publisher","DOI":"10.1049\/el:19991355"},{"key":"e_1_2_9_35_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(97)00088-5"},{"key":"e_1_2_9_36_2","doi-asserted-by":"crossref","unstructured":"GarciaR. PuigJ. RidaoP. andCufiX. Augmented state Kalman filtering for AUV navigation 4 Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) May 2002 Washington DC USA 4010\u20134015 https:\/\/doi.org\/10.1109\/ROBOT.2002.1014362.","DOI":"10.1109\/ROBOT.2002.1014362"},{"key":"e_1_2_9_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1969.1099223"},{"key":"e_1_2_9_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.847741"},{"key":"e_1_2_9_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1976.1101201"},{"key":"e_1_2_9_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2009.4805268"},{"key":"e_1_2_9_41_2","doi-asserted-by":"publisher","DOI":"10.1029\/94JC00572"},{"key":"e_1_2_9_42_2","doi-asserted-by":"publisher","DOI":"10.1175\/1520-0493(1998)126<1719:ASITEK>2.0.CO;2"},{"key":"e_1_2_9_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2009.2017996"},{"key":"e_1_2_9_44_2","doi-asserted-by":"crossref","unstructured":"KhazrajH. Faria da SilvaF. andBakC. L. A performance comparison between extended Kalman filter and unscented Kalman filter in power system dynamic state estimation 2016 51st International Universities Power Engineering Conference (UPEC) September 2016 Coimbra Portugal 1\u20136 https:\/\/doi.org\/10.1109\/UPEC.2016.8114125 2-s2.0-85046016541.","DOI":"10.1109\/UPEC.2016.8114125"},{"key":"e_1_2_9_45_2","doi-asserted-by":"crossref","unstructured":"St-PierreM.andGingrasD. Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system IEEE Intelligent Vehicles Symposium 2004 July 2004 Parma Italy 831\u2013835 https:\/\/doi.org\/10.1109\/IVS.2004.1336492.","DOI":"10.1109\/IVS.2004.1336492"},{"key":"e_1_2_9_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.est.2016.10.004"},{"key":"e_1_2_9_47_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/2138643"},{"key":"e_1_2_9_48_2","doi-asserted-by":"publisher","DOI":"10.3390\/s20082251"},{"key":"e_1_2_9_49_2","doi-asserted-by":"publisher","DOI":"10.3390\/s20030803"},{"key":"e_1_2_9_50_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2003.816758"},{"key":"e_1_2_9_51_2","doi-asserted-by":"publisher","DOI":"10.3390\/s17122810"},{"key":"e_1_2_9_52_2","doi-asserted-by":"crossref","unstructured":"ShinM.andKwonD. Implementation of extended Kalman filter with PI control and modeling effect reduction for precise motor speed estimation in disturbance 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) October 2015 Goyang South Korea 72\u201376 https:\/\/doi.org\/10.1109\/URAI.2015.7358931 2-s2.0-84962746507.","DOI":"10.1109\/URAI.2015.7358931"},{"key":"e_1_2_9_53_2","doi-asserted-by":"publisher","DOI":"10.1109\/41.510642"},{"key":"e_1_2_9_54_2","doi-asserted-by":"publisher","DOI":"10.1163\/156855307780108268"},{"key":"e_1_2_9_55_2","doi-asserted-by":"crossref","unstructured":"HartleyR. JadidiM. G. GrizzleJ. W. andEusticeR. M. Contact-aided invariant extended Kalman filtering for legged robot state estimation Robotics: Science and Systems XIV June 2018 Pittsburgh Pennsylvania USA https:\/\/doi.org\/10.15607\/RSS.2018.XIV.050.","DOI":"10.15607\/RSS.2018.XIV.050"},{"key":"e_1_2_9_56_2","doi-asserted-by":"crossref","unstructured":"GhiasiA. R. GhavifekrA. A. HaghY. S. andSeyedGholamiH. Designing adaptive robust extended Kalman filter based on Lyapunov-based controller for robotics manipulators 2015 6th International Conference on Modeling Simulation and Applied Optimization (ICMSAO) May 2015 Istanbul Turkey 1\u20136 https:\/\/doi.org\/10.1109\/ICMSAO.2015.7152248 2-s2.0-84941043377.","DOI":"10.1109\/ICMSAO.2015.7152248"},{"key":"e_1_2_9_57_2","doi-asserted-by":"crossref","unstructured":"Al KhatibE. I. JaradatM. A. Abdel-HafezM. andRoigariM. Multiple sensor fusion for mobile robot localization and navigation using the extended Kalman filter 2015 10th International Symposium on Mechatronics and its Applications (ISMA) December 2015 Sharjah United Arab Emirates 1\u20135 https:\/\/doi.org\/10.1109\/ISMA.2015.7373480 2-s2.0-84964941524.","DOI":"10.1109\/ISMA.2015.7373480"},{"key":"e_1_2_9_58_2","doi-asserted-by":"crossref","unstructured":"LuJ. LiC. andSuW. Extended Kalman filter based localization for a mobile robot team 2016 Chinese Control and Decision Conference (CCDC) May 2016 Yinchuan China 939\u2013944 https:\/\/doi.org\/10.1109\/CCDC.2016.7531118 2-s2.0-84983775946.","DOI":"10.1109\/CCDC.2016.7531118"},{"key":"e_1_2_9_59_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909353640"},{"key":"e_1_2_9_60_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9692-3"},{"key":"e_1_2_9_61_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-017-0353-2"},{"key":"e_1_2_9_62_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2018.03.053"},{"key":"e_1_2_9_63_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2019.00025"},{"key":"e_1_2_9_64_2","doi-asserted-by":"crossref","unstructured":"ParasuramanR. OegrenP. andMinB. Kalman filter based spatial prediction of wireless connectivity for autonomous robots and connected vehicles 2018 IEEE 88th vehicular technology conference (VTC-fall) August 2018 Chicago IL USA 1\u20135 https:\/\/doi.org\/10.1109\/VTCFall.2018.8690611 2-s2.0-85064954564.","DOI":"10.1109\/VTCFall.2018.8690611"},{"key":"e_1_2_9_65_2","doi-asserted-by":"publisher","DOI":"10.1049\/trit.2017.0025"},{"key":"e_1_2_9_66_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-016-0544-2"},{"key":"e_1_2_9_67_2","doi-asserted-by":"crossref","unstructured":"RossiS.andGadsdenS. A. Sensor filtering and position tracking of a simulated planar bipedal robot The 2018 Canadian Society for Mechanical Engineering (CSME) International Congress May 2018 York University Toronto Canada https:\/\/doi.org\/10.25071\/10315\/35229.","DOI":"10.25071\/10315\/35229"},{"key":"e_1_2_9_68_2","doi-asserted-by":"publisher","DOI":"10.3390\/s18103485"},{"key":"e_1_2_9_69_2","first-page":"829","article-title":"Approach for calibrating position of displacement sensor mounted on robot end-effector","volume":"49","author":"Kang-Zheng Z. W. Y.","year":"2015","journal-title":"Journal of ZheJiang University (Engineering Science)"},{"key":"e_1_2_9_70_2","doi-asserted-by":"crossref","unstructured":"HerreraL. Hern\u00e1ndezR. andJuradoF. Control and extended Kalman filter based estimation for a ballbot robotic system 2018 XX Congreso Mexicano de Rob\u00f3tica (COMRob) September 2018 Ensenada Mexico 1\u20136 https:\/\/doi.org\/10.1109\/COMROB.2018.8689412 2-s2.0-85065026755.","DOI":"10.1109\/COMROB.2018.8689412"},{"key":"e_1_2_9_71_2","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015524102952"},{"key":"e_1_2_9_72_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0609-1"},{"key":"e_1_2_9_73_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.07.007"},{"key":"e_1_2_9_74_2","doi-asserted-by":"crossref","unstructured":"ZouY. J. ZhaoX. G. andHanJ. D. Estimation methods of flexible tip-steerable needles: a comparative study Proceeding of the 11th World Congress on Intelligent Control and Automation June 2014 Shenyang China 5051\u20135056 https:\/\/doi.org\/10.1109\/WCICA.2014.7053572 2-s2.0-84932176580.","DOI":"10.1109\/WCICA.2014.7053572"},{"key":"e_1_2_9_75_2","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2018.2843654"},{"key":"e_1_2_9_76_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0645-z"},{"key":"e_1_2_9_77_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0525-6"},{"key":"e_1_2_9_78_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-018-9503-4"},{"key":"e_1_2_9_79_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0761-9"},{"key":"e_1_2_9_80_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-019-0973-9"},{"key":"e_1_2_9_81_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-016-0498-4"},{"key":"e_1_2_9_82_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)32063-3"},{"key":"e_1_2_9_83_2","unstructured":"BarrauA.andBonnabelS. An EKF-SLAM algorithm with consistency properties 2016 December 2019 http:\/\/arxiv.org\/abs\/1510.06263."},{"key":"e_1_2_9_84_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2651376"},{"key":"e_1_2_9_85_2","doi-asserted-by":"crossref","unstructured":"ZhuJ. ZhengN. YuanZ. ZhangQ. ZhangX. andHeY. A SLAM algorithm based on the central difference Kalman filter 2009 IEEE Intelligent Vehicles Symposium June 2009 Xi\u2019an China 123\u2013128 https:\/\/doi.org\/10.1109\/IVS.2009.5164264 2-s2.0-70449592022.","DOI":"10.1109\/IVS.2009.5164264"},{"key":"e_1_2_9_86_2","doi-asserted-by":"crossref","unstructured":"LiL. KimH. JiangS. KimY. andKucT. Feature saliency based SLAM of mobile robot 2018 International Conference on Electronics Information and Communication (ICEIC) January 2018 Honolulu HI USA 1\u20133 https:\/\/doi.org\/10.23919\/ELINFOCOM.2018.8330615 2-s2.0-85048561009.","DOI":"10.23919\/ELINFOCOM.2018.8330615"},{"key":"e_1_2_9_87_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9083-2"},{"key":"e_1_2_9_88_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-019-0669-1"}],"container-title":["Journal of Sensors"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2021\/9674015.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2021\/9674015.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/9674015","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,7]],"date-time":"2024-09-07T19:25:49Z","timestamp":1725737149000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/9674015"}},"subtitle":[],"editor":[{"given":"Giovanni","family":"Diraco","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":88,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/9674015"],"URL":"https:\/\/doi.org\/10.1155\/2021\/9674015","archive":["Portico"],"relation":{},"ISSN":["1687-725X","1687-7268"],"issn-type":[{"value":"1687-725X","type":"print"},{"value":"1687-7268","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2021-04-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-08-13","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-09-03","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"9674015"}}