{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T12:16:36Z","timestamp":1767183396692,"version":"build-2065373602"},"reference-count":21,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2020,6,10]],"date-time":"2020-06-10T00:00:00Z","timestamp":1591747200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Korea Institute of Science and Technology (KIST) Institutional Program","award":["2E29460 \/ 2E30280"],"award-info":[{"award-number":["2E29460 \/ 2E30280"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A cooperative dynamic range-only simultaneous localization and mapping (CDRO-SLAM) algorithm based on the sum of Gaussian (SoG) filter was recently introduced. The main characteristics of the CDRO-SLAM are (i) the integration of inter-node ranges as well as usual direct robot-node ranges to improve the convergence rate and localization accuracy and (ii) the tracking of any moving nodes under dynamic environments by resetting and updating the SoG variables. In this paper, an efficient implementation of the CDRO-SLAM (eCDRO-SLAM) is proposed to mitigate the high computational burden of the CDRO-SLAM due to the inter-node measurements. Furthermore, a thorough computational analysis is presented, which reveals that the computational efficiency of the eCDRO-SLAM is significantly improved over the CDRO-SLAM. The performance of the proposed eCDRO-SLAM is compared with those of several conventional RO-SLAM algorithms and the results show that the proposed efficient algorithm has a faster convergence rate and a similar map estimation error regardless of the map size. Accordingly, the proposed eCDRO-SLAM can be utilized in various RO-SLAM applications.<\/jats:p>","DOI":"10.3390\/s20113306","type":"journal-article","created":{"date-parts":[[2020,6,15]],"date-time":"2020-06-15T05:56:27Z","timestamp":1592200587000},"page":"3306","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Computationally Efficient Cooperative Dynamic Range-Only SLAM Based on Sum of Gaussian Filter"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2156-1993","authenticated-orcid":false,"given":"Jung-Hee","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6921-0079","authenticated-orcid":false,"given":"Doik","family":"Kim","sequence":"additional","affiliation":[{"name":"Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology, Seoul 02792, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,6,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"318","DOI":"10.1109\/TIE.2018.2826471","article-title":"A monocular vision sensor-based efficient SLAM method for indoor service robots","volume":"66","author":"Lee","year":"2019","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Yu, C., Liu, Z., Liu, X., Xie, F., Yang, Y., Wei, Q., and Fei, Q. (2018, January 1\u20135). DS-SLAM: A semantic visual SLAM towards dynamic environments. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain.","DOI":"10.1109\/IROS.2018.8593691"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Bjrne, E., Johansen, T., and Brekke, E. (2017, January 10\u201314). Redesign and analysis of globally asymptotically stable bearing only SLAM. Proceedings of the IEEE International Conference on Multimedia and Expo, Hong Kong, China.","DOI":"10.23919\/ICIF.2017.8009864"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Menegatti, E., Zanella, A., Zilli, S., Zorzi, F., and Pagello, E. (2009, January 12\u201317). Range-only SLAM with a mobile robot and a wireless sensor networks. 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