{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:04:59Z","timestamp":1760241899180,"version":"build-2065373602"},"reference-count":17,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2018,10,8]],"date-time":"2018-10-08T00:00:00Z","timestamp":1538956800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Foundation of Key Laboratory of Science and Technology for National Defense","award":["9140C770205150C77319"],"award-info":[{"award-number":["9140C770205150C77319"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61473038","91648117"],"award-info":[{"award-number":["61473038","91648117"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["4172055"],"award-info":[{"award-number":["4172055"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Robot localization, particularly multirobot localization, is an important task for multirobot teams. In this paper, a decentralized cooperative localization (DCL) algorithm with fault detection and isolation is proposed to estimate the positions of robots in mobile robot teams. To calculate the interestimate correlations in a distributed manner, the split covariance intersection filter (SCIF) is applied in the algorithm. Based on the split covariance intersection filter cooperative localization (SCIFCL) algorithm, we adopt fault detection and isolation (FDI) to improve the robustness and accuracy of the DCL results. In the proposed algorithm, the signature matrix of the original FDI algorithm is modified for application to DCL. A simulation-based comparative study is conducted to demonstrate the effectiveness of the proposed algorithm.<\/jats:p>","DOI":"10.3390\/s18103360","type":"journal-article","created":{"date-parts":[[2018,10,8]],"date-time":"2018-10-08T10:44:53Z","timestamp":1538995493000},"page":"3360","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8436-6936","authenticated-orcid":false,"given":"Mei","family":"Wu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China"}]},{"given":"Hongbin","family":"Ma","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China"}]},{"given":"Xinghong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Automatic Control, Henan Institute of Technology, Xinxiang 453000, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,10,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1429","DOI":"10.1109\/TSMC.2017.2660547","article-title":"A Gait Recognition Method for Human Following in Service Robots","volume":"48","author":"Chi","year":"2018","journal-title":"IEEE Trans. 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