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Analysis of institutional authors

Marin, LCorresponding AuthorVallés, MAuthorSoriano, AAuthorValera, AAuthor

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October 31, 2024
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Event-Based Localization in Ackermann Steering Limited Resource Mobile Robots

Publicated to:Ieee-Asme Transactions On Mechatronics. 19 (4): 1171-1182 - 2014-08-01 19(4), DOI: 10.1109/TMECH.2013.2277271

Authors: Marin, Leonardo; Valles, Marina; Soriano, Angel; Valera, Angel; Albertos, Pedro

Affiliations

Univ Politecn Valencia, Dept Syst Engn & Control, Inst Univ Automat & Informat Ind - Author

Abstract

This paper presents a local sensor fusion technique with an event-based global position correction to improve the localization of a mobile robot with limited computational resources. The proposed algorithms use a modified Kalman filter and a new local dynamic model of an Ackermann steering mobile robot. It has a similar performance but faster execution when compared to more complex fusion schemes, allowing its implementation inside the robot. As a global sensor, an event-based position correction is implemented using the Kalman filter error covariance and the position measurement obtained from a zenithal camera. The solution is tested during a long walk with different trajectories using a LEGO Mindstorm NXT robot.

Keywords

Dynamic modelDynamic modelsEmbedded systemsEvent-based systemEvent-based systemsFiltersGlobal positioning systems (gpss)Inertial sensorInertial sensorsInsKalman filteringKalman filtersKalman-filteringMobile robotsNavigationObject recognitionPose estimationPosition measurementRobot sensing systemRobot sensing systemsSensor fusionSensorsSlam

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Ieee-Asme Transactions On Mechatronics due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2014, it was in position 3/130, thus managing to position itself as a Q1 (Primer Cuartil), in the category Engineering, Mechanical.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations provided by WoS (ESI, Clarivate), it yields a value for the citation normalization relative to the expected citation rate of: 1. This indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 14, 2024)

This information is reinforced by other indicators of the same type, which, although dynamic over time and dependent on the set of average global citations at the time of their calculation, consistently position the work at some point among the top 50% most cited in its field:

  • Weighted Average of Normalized Impact by the Scopus agency: 1.13 (source consulted: FECYT Feb 2024)
  • Field Citation Ratio (FCR) from Dimensions: 9.58 (source consulted: Dimensions Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-16, the following number of citations:

  • WoS: 38
  • Scopus: 38

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-16:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 38 (PlumX).

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Marin Vilches, Lorenzo) and Last Author (ALBERTOS, P).

the author responsible for correspondence tasks has been Marin Vilches, Lorenzo.