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To address this problem, this work proposes a method to utilize integrity risk, a widely used performance metric in aviation, to quantify SLAM-based mobile robot\u2019s localization safety. More importantly, the approach accounts for sensor measurement faults, unknown deterministic errors that cannot be modeled via Gaussian white noise. The method is tailored for an EKF-based SLAM estimator, a chi-squared failure detector, and a local nearest neighbors data association criterion. The results show that data association errors can cause significant positioning performance degradation that can only be predicted using the proposed integrity risk metric. Furthermore, the study demonstrates that as the map\u2019s landmark density increases, mobile robot localization safety improves, except when the landmark map\u2019s density is too high to make the features indistinguishable, which leads to positioning safety degradation.<\/jats:p>","DOI":"10.1177\/02783649241287797","type":"journal-article","created":{"date-parts":[[2024,10,19]],"date-time":"2024-10-19T09:36:03Z","timestamp":1729330563000},"page":"972-988","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Quantifying mobile robot localization safety for an EKF-based SLAM estimator: An integrity monitoring approach"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2436-6934","authenticated-orcid":false,"given":"Osama","family":"Abdul Hafez","sequence":"first","affiliation":[{"name":"The Robotics Lab, Mechanical, Materials, and Aerospace Engineering Dept., Illinois Institute of Technology (AKA: IIT), Chicago, IL, USA"},{"name":"Assured Vehicle Autonomy Lab (AKA: AVA Lab), Aerospace and Ocean Engineering Dept., Virginia Tech (AKA: VT), Blacksburg, VA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6391-9095","authenticated-orcid":false,"given":"Mathieu","family":"Joerger","sequence":"additional","affiliation":[{"name":"Assured Vehicle Autonomy Lab (AKA: AVA Lab), Aerospace and Ocean Engineering Dept., Virginia Tech (AKA: VT), Blacksburg, VA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matthew","family":"Spenko","sequence":"additional","affiliation":[{"name":"The Robotics Lab, Mechanical, Materials, and Aerospace Engineering Dept., Illinois Institute of Technology (AKA: IIT), Chicago, IL, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,10,19]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-010-0520-1"},{"issue":"3","key":"e_1_3_3_3_1","first-page":"19","article-title":"Covariance bounds analysis during intermittent measurement for ekf-based slam","volume":"4","author":"Ahmad H","year":"2012","unstructured":"Ahmad H, Namerikawa T (2012) Covariance bounds analysis during intermittent measurement for ekf-based slam. 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