{"id":"https://openalex.org/W1998949401","doi":"https://doi.org/10.1109/icra.2014.6907375","title":"Passively safe partial motion planning for mobile robots with limited field-of-views in unknown dynamic environments","display_name":"Passively safe partial motion planning for mobile robots with limited field-of-views in unknown dynamic environments","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1998949401","doi":"https://doi.org/10.1109/icra.2014.6907375","mag":"1998949401"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907375","doi":"https://doi.org/10.1109/icra.2014.6907375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907375","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-01018463","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076861345","display_name":"Sara Bouraine","orcid":"https://orcid.org/0000-0002-7656-844X","observed_orcids":["https://orcid.org/0000-0002-7656-844X"]},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"S. Bouraine","raw_affiliation_strings":["CDTA (DZ)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CDTA (DZ)","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059766281","display_name":"Thierry Fraichard","orcid":"https://orcid.org/0000-0002-0763-3260","observed_orcids":["https://orcid.org/0000-0002-0763-3260"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210104430","display_name":"Laboratoire d'Informatique de Grenoble","ror":"https://ror.org/01c8rcg82","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210104430","https://openalex.org/I4210159245","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Th. Fraichard","raw_affiliation_strings":["INRIA, CNRS-LIG and Grenoble Univ. CFR","INRIA, CNRS-LIG and Grenoble Univ. (FR)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, CNRS-LIG and Grenoble Univ. CFR","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210104430"]},{"raw_affiliation_string":"INRIA, CNRS-LIG and Grenoble Univ. (FR)","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I4210104430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007777913","display_name":"Ouahiba Azouaoui","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"O. Azouaoui","raw_affiliation_strings":["CDTA (DZ)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CDTA (DZ)","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036874351","display_name":"H. Salhi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I83332908","display_name":"University of Blida","ror":"https://ror.org/03g41pw14","country_code":"DZ","type":"education","lineage":["https://openalex.org/I83332908"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Hassen Salhi","raw_affiliation_strings":["Blida Univ. (DZ)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Blida Univ. (DZ)","institution_ids":["https://openalex.org/I83332908"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5376,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.67270794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3576","last_page":"3582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.7919999957084656},{"id":"https://openalex.org/keywords/limited-field-of-view","display_name":"limited field of view","score":0.7990000247955322},{"id":"https://openalex.org/keywords/unknown-dynamic-environments","display_name":"unknown dynamic environments","score":0.9520000219345093},{"id":"https://openalex.org/keywords/dynamic-obstacles","display_name":"dynamic obstacles","score":0.8579999804496765},{"id":"https://openalex.org/keywords/occlusion","display_name":"occlusion","score":0.6430000066757202},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.6790000200271606}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7176542282104492},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.706886887550354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6492301225662231},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6446175575256348},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6092778444290161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5791791081428528},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5553492903709412},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.46368661522865295},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4288772940635681},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4154258668422699},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4137808680534363},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4046301245689392},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3667013645172119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28144940733909607},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12343350052833557},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1168762743473053},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08553481101989746},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08382639288902283},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07606834173202515},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907375","doi":"https://doi.org/10.1109/icra.2014.6907375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907375","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.635.7997","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.635.7997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.univ-grenoble-alpes.fr/docs/01/01/84/63/PDF/14-icra-bouraine-etal.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-01018463v1","doi":null,"is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01018463","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int. Conf. on Robotics and Automation (ICRA), Jun 2014, Hong Kong, Hong Kong SAR China","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01018463v1","doi":null,"is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01018463","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int. Conf. on Robotics and Automation (ICRA), Jun 2014, Hong Kong, Hong Kong SAR China","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1825068554","https://openalex.org/W1977791508","https://openalex.org/W1979743043","https://openalex.org/W2000359213","https://openalex.org/W2000790002","https://openalex.org/W2004815408","https://openalex.org/W2030558783","https://openalex.org/W2032681112","https://openalex.org/W2036016432","https://openalex.org/W2042225474","https://openalex.org/W2121204166","https://openalex.org/W2130610946","https://openalex.org/W2133099608","https://openalex.org/W2141698884","https://openalex.org/W2146487268","https://openalex.org/W2167869989","https://openalex.org/W2206539748","https://openalex.org/W4300641938"],"related_works":["https://openalex.org/W2121949800","https://openalex.org/W2000790002","https://openalex.org/W2042225474","https://openalex.org/W7100000636","https://openalex.org/W2150495833","https://openalex.org/W87278644","https://openalex.org/W2952849642","https://openalex.org/W2584122770","https://openalex.org/W421414212","https://openalex.org/W2289922829"],"abstract_inverted_index":{"This":[0],"paper":[1,114],"addresses":[2],"the":[3,7,27,38,47,62,103,136,151,165,170],"problem":[4],"of":[5,9,49,88,112,150,169],"planning":[6,29,42],"motion":[8,36,41,59,89,93,119,123,143],"a":[10,14,25,34,85,99,117,128,148,172],"mobile":[11],"robot":[12,104,137],"with":[13,195],"limited":[15,188],"sensory":[16,189],"field-of-view":[17],"in":[18,44],"an":[19],"unknown":[20,56,196],"dynamic":[21],"environment.":[22],"In":[23],"such":[24,162],"situation,":[26],"upper-bounded":[28],"time":[30],"prevents":[31],"from":[32],"computing":[33],"complete":[35],"to":[37,75,82,134],"goal,":[39],"partial":[40,118,131],"is":[43,55,73,81,115,145,177,202],"order.":[45],"Besides":[46],"presence":[48],"moving":[50,193],"obstacles":[51,194],"whose":[52],"future":[53,166,197],"behaviour":[54],"precludes":[57],"absolute":[58],"safety":[60,90,144],"(in":[61],"sense":[63],"that":[64],"no":[65],"collision":[66,100,173],"will":[67,105],"ever":[68],"take":[69],"place":[70],"whatever":[71,164],"happens)":[72],"impossible":[74],"guarantee.":[76],"The":[77,109],"stance":[78],"taken":[79],"herein":[80],"settle":[83],"for":[84],"weaker":[86],"level":[87],"called":[91,157],"passive":[92,122],"safety:":[94],"it":[95,176],"guarantees":[96],"that,":[97,163],"if":[98],"takes":[101],"place,":[102],"be":[106],"at":[107,178],"rest.":[108,179],"primary":[110],"contribution":[111],"this":[113],"PassPMP,":[116],"planner":[120],"enforcing":[121],"safety.":[124],"PassPMP":[125,184,201],"periodically":[126],"computes":[127],"passively":[129,204],"safe":[130],"trajectory":[132,168],"designed":[133],"drive":[135],"towards":[138],"its":[139],"goal":[140],"state.":[141],"Passive":[142],"handled":[146],"using":[147],"variant":[149],"Inevitable":[152],"Collision":[153],"State":[154],"(ICS)":[155],"concept":[156],"Braking":[158],"ICS,":[159],"i.e.":[160],"states":[161],"braking":[167],"robot,":[171],"occurs":[174],"before":[175],"Simulation":[180],"results":[181],"demonstrate":[182],"how":[183],"operates":[185],"and":[186,192],"handles":[187],"field-of-views,":[190],"occlusions":[191],"behaviour.":[198],"More":[199],"importantly,":[200],"provably":[203],"safe.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-10-25T09:29:13.331239","created_date":"2016-06-24T00:00:00"}
