{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:05:22Z","timestamp":1777716322559,"version":"3.51.4"},"reference-count":24,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2013,2,1]],"date-time":"2013-02-01T00:00:00Z","timestamp":1359676800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2013,2]]},"abstract":"<jats:p>Electric fish sense the perturbations of a self-generated electric field through their electro-receptive skin. This sense allows them to navigate and reconstruct their environment in conditions where vision and sonar cannot work. In this article, we use a sensor inspired by this sense to address both problems of locating and estimating the size of small objects (electrolocation) and navigating in a tank. Based on a Kalman filter, any small object in the surroundings of the motion-controlled sensor can be modeled as an equivalent sphere whose location is well estimated by the filter. As a first application to the problem of navigation, the filter is included into a closed feedback loop in order to achieve wall following in a tank. Our experimental results demonstrate the feasibility of this approach.<\/jats:p>","DOI":"10.1177\/0278364912470181","type":"journal-article","created":{"date-parts":[[2013,2,14]],"date-time":"2013-02-14T05:28:47Z","timestamp":1360819727000},"page":"172-188","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":38,"title":["Environment reconstruction and navigation with electric sense based on a Kalman filter"],"prefix":"10.1177","volume":"32","author":[{"given":"Vincent","family":"Lebastard","sequence":"first","affiliation":[{"name":"IRCCyN-Ecole des Mines de Nantes, Nantes, France"}]},{"given":"Christine","family":"Chevallereau","sequence":"additional","affiliation":[{"name":"IRCCyN-CNRS, Ecole Centrale de Nantes, Nantes, France"}]},{"given":"Alexis","family":"Girin","sequence":"additional","affiliation":[{"name":"IRCCyN-Ecole des Mines de Nantes, Nantes, France"}]},{"given":"No\u00ebl","family":"Servagent","sequence":"additional","affiliation":[{"name":"SUBATECH-Ecole des Mines de Nantes, Nantes, France"}]},{"given":"Pol-Bernard","family":"Gossiaux","sequence":"additional","affiliation":[{"name":"SUBATECH-Ecole des Mines de Nantes, Nantes, France"}]},{"given":"Fr\u00e9d\u00e9ric","family":"Boyer","sequence":"additional","affiliation":[{"name":"IRCCyN-Ecole des Mines de Nantes, Nantes, France"}]}],"member":"179","published-online":{"date-parts":[[2013,2,14]]},"reference":[{"key":"bibr1-0278364912470181","author":"Baffet G","year":"2008","journal-title":"Robotics and Biomimetics ROBIO IEEE"},{"key":"bibr2-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2175764"},{"key":"bibr3-0278364912470181","author":"Boyer F","year":"2012","journal-title":"IEEE Transactions on Robotics"},{"key":"bibr4-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.201.14.2115"},{"key":"bibr5-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1007\/s00359-004-0587-3"},{"key":"bibr6-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-008-0213-5"},{"key":"bibr7-0278364912470181","first-page":"375","volume-title":"Encyclopedia of Fish Physiology: From Genome to Environment","author":"Engelmann J","year":"2011"},{"key":"bibr8-0278364912470181","volume-title":"Classical Electrodynamics","author":"Jakson JD","year":"1999","edition":"3"},{"key":"bibr9-0278364912470181","author":"Jawad B","year":"2010","journal-title":"Robotics and Biomimetics ROBIO IEEE"},{"key":"bibr10-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"bibr11-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224836"},{"key":"bibr12-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5648929"},{"key":"bibr13-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.35.2.451"},{"key":"bibr14-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2101-0"},{"key":"bibr15-0278364912470181","author":"Porez M","year":"2011","journal-title":"Proceedings of IROS 2011"},{"key":"bibr16-0278364912470181","first-page":"397","volume":"3","author":"Rasnow B","year":"1996","journal-title":"Journal of Comparative Physiology A"},{"key":"bibr17-0278364912470181","author":"Servagent N","year":"2011","journal-title":"IEEE Sensors Journal"},{"key":"bibr18-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1109\/TAP.2004.834081"},{"key":"bibr19-0278364912470181","first-page":"182","volume-title":"Proceedings of the International Symposium Aerospace\/Defense Sensing, Simulation and Controls","author":"Simon JJ","year":"1997"},{"key":"bibr20-0278364912470181","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Solberg J","year":"2007"},{"key":"bibr21-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090538"},{"key":"bibr22-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.10.1205"},{"key":"bibr23-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1007\/s00359-006-0096-7"},{"key":"bibr24-0278364912470181","doi-asserted-by":"publisher","DOI":"10.1038\/27655"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912470181","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912470181","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:01Z","timestamp":1777457881000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364912470181"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,2]]},"references-count":24,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2013,2]]}},"alternative-id":["10.1177\/0278364912470181"],"URL":"https:\/\/doi.org\/10.1177\/0278364912470181","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,2]]}}}