# A sound-based positioning system with centimeter accuracy for mobile robots in a greenhouse using frequency shift compensation

> Research article (Computers and Electronics in Agriculture, 2021) · cited 25× · AI/ML

**Wikidata**: [openalex:W3170569434](https://www.wikidata.org/wiki/openalex:W3170569434)  
**Source**: https://4ort.xyz/entity/a-sound-based-positioning-system-with-centimeter-accuracy-for-mobile-robots-in-a-greenhouse-using-frequency-shift-compen