{"id":"https://openalex.org/W2777909620","doi":null,"title":"Sensor-based Autonomous Navigation of Omnidirectional Robots Dealing with Collisions and Occlusions in Unknown Environments","display_name":"Sensor-based Autonomous Navigation of Omnidirectional Robots Dealing with Collisions and Occlusions in Unknown Environments","publication_year":2018,"publication_date":"2018-01-29","ids":{"openalex":"https://openalex.org/W2777909620","mag":"2777909620"},"language":"en","primary_location":{"id":"pmh:oai:HAL:hal-01625946v3","doi":null,"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01625946","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":"https://hal.archives-ouvertes.fr/hal-01625946","raw_type":"\\ninfo:eu-repo/semantics/preprint\\n"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-01625946","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022568814","display_name":"Abdellah Khelloufi","orcid":"https://orcid.org/0000-0002-2664-7270","observed_orcids":["https://orcid.org/0000-0002-2664-7270"]},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"Khelloufi, Abdellah","raw_affiliation_strings":["IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","USTHB - Universit\u00e9 des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (BP 32 EL Alia 16111 Bab Ezzouar,  Alger - Algeria)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]},{"raw_affiliation_string":"USTHB - Universit\u00e9 des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (BP 32 EL Alia 16111 Bab Ezzouar,  Alger - Algeria)","institution_ids":["https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029945798","display_name":"Nouara Achour","orcid":"https://orcid.org/0000-0002-9670-7005","observed_orcids":["https://orcid.org/0000-0002-9670-7005"]},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Achour, Nouara","raw_affiliation_strings":["USTHB - Universit\u00e9 des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (BP 32 EL Alia 16111 Bab Ezzouar,  Alger - Algeria)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"USTHB - Universit\u00e9 des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (BP 32 EL Alia 16111 Bab Ezzouar,  Alger - Algeria)","institution_ids":["https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064753856","display_name":"Robin Passama","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Passama, Robin","raw_affiliation_strings":["IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922","observed_orcids":["https://orcid.org/0000-0002-7272-6922"]},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cherubini, Andrea","raw_affiliation_strings":["IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00617827,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9717000126838684,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9717000126838684,"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":0.014399999752640724,"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":0.005900000222027302,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-mobile-robot","display_name":"omnidirectional mobile robot","score":0.8809999823570251},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.9729999899864197},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.8809999823570251},{"id":"https://openalex.org/keywords/occlusion","display_name":"occlusion","score":0.7310000061988831},{"id":"https://openalex.org/keywords/target-tracking","display_name":"target tracking","score":0.609000027179718},{"id":"https://openalex.org/keywords/lidar-obstacle-detection","display_name":"LiDAR obstacle detection","score":0.7440000176429749},{"id":"https://openalex.org/keywords/dynamic-obstacles","display_name":"dynamic obstacles","score":0.6029999852180481},{"id":"https://openalex.org/keywords/unknown-environments","display_name":"unknown environments","score":0.621999979019165},{"id":"https://openalex.org/keywords/sensor-based-navigation","display_name":"sensor-based navigation","score":0.7170000076293945},{"id":"https://openalex.org/keywords/target-location-prediction","display_name":"target location prediction","score":0.5379999876022339}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6898896098136902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6744216680526733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.571192741394043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5545865893363953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5100927948951721},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.060555487871170044},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.05047672986984253}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:HAL:hal-01625946v3","doi":null,"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01625946","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":"https://hal.archives-ouvertes.fr/hal-01625946","raw_type":"\\ninfo:eu-repo/semantics/preprint\\n"},{"id":"pmh:oai:HAL:hal-01625946v4","doi":null,"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01625946","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":"https://hal.archives-ouvertes.fr/hal-01625946","raw_type":"\\ninfo:eu-repo/semantics/preprint\\n"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01625946v3","doi":null,"is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01625946","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":"https://hal.archives-ouvertes.fr/hal-01625946","raw_type":"\\ninfo:eu-repo/semantics/preprint\\n"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2958797314","https://openalex.org/W2146487268","https://openalex.org/W2981303563","https://openalex.org/W1697762455","https://openalex.org/W2145623643","https://openalex.org/W2625493521","https://openalex.org/W1503629359","https://openalex.org/W2155451159","https://openalex.org/W3172070669","https://openalex.org/W7095675155"],"abstract_inverted_index":{"Navigation":[0],"tasks":[1],"are":[2,82],"often":[3],"subject":[4],"to":[5,12,96,108],"several":[6,125],"constraints":[7],"that":[8,33],"can":[9],"be":[10],"related":[11],"the":[13,19,50,57,79,89,91,98,104,113],"sensors":[14],"(visibility)":[15],"or":[16],"come":[17],"from":[18],"environment":[20],"(obstacles).":[21],"In":[22],"this":[23],"paper,":[24],"we":[25],"propose":[26],"a":[27,53],"framework":[28],"for":[29],"autonomous":[30],"omnidirectional":[31],"vehicles,":[32],"takes":[34],"into":[35],"account":[36],"both":[37],"collision":[38],"and":[39,61],"occlusion":[40],"risk,":[41],"during":[42],"sensor-based":[43],"navigation.":[44],"The":[45,64,117],"task":[46],"consists":[47],"in":[48,56,100,112],"driving":[49],"vehicle":[51,92],"towards":[52],"visual":[54],"target":[55,65,99],"presence":[58],"of":[59,73,115,119],"static":[60],"moving":[62],"obstacles.":[63],"is":[66,122],"acquired":[67],"by":[68,84],"fixed":[69],"-":[70,75],"limited":[71],"field":[72],"view":[74,101],"on-board":[76],"sensors,":[77],"while":[78,102],"surrounding":[80],"obstacles":[81],"detected":[83],"lidar":[85],"scanners.":[86],"To":[87],"perform":[88],"task,":[90],"has":[93],"not":[94],"only":[95],"keep":[97],"avoiding":[103],"obstacles,":[105],"but":[106],"also":[107],"predict":[109],"its":[110],"location":[111],"case":[114],"occlusion.":[116],"effectiveness":[118],"our":[120],"approach":[121],"validated":[123],"through":[124],"experiments.":[126]},"counts_by_year":[],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2018-01-05T00:00:00"}
