{"id":"https://openalex.org/W7225005343","doi":"https://doi.org/10.64820/aepjrr.32.8.33.122026","title":"EFM2: An Enhanced Sensor Fusion and Path-Tracking Control Framework for Omnidirectional Automated Guided Vehicles","display_name":"EFM2: An Enhanced Sensor Fusion and Path-Tracking Control Framework for Omnidirectional Automated Guided Vehicles","publication_year":2026,"publication_date":"2026-10-31","ids":{"openalex":"https://openalex.org/W7225005343","doi":"https://doi.org/10.64820/aepjrr.32.8.33.122026"},"language":"en","primary_location":{"id":"doi:10.64820/aepjrr.32.8.33.122026","doi":"https://doi.org/10.64820/aepjrr.32.8.33.122026","is_oa":true,"landing_page_url":"https://doi.org/10.64820/aepjrr.32.8.33.122026","pdf_url":null,"source":{"id":"https://openalex.org/S5407051431","display_name":"Journal of Robotics Research","issn_l":"2978-4344","issn":["2978-4344"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics Research","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.64820/aepjrr.32.8.33.122026","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045494565","display_name":"Ata Jahangir Moshayedi","orcid":"https://orcid.org/0000-0002-9457-6267","observed_orcids":["https://orcid.org/0000-0002-9457-6267"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ata Jahangir Moshayedi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021472591","display_name":"Arash Sioofy Khoojine","orcid":"https://orcid.org/0000-0001-5574-5382","observed_orcids":["https://orcid.org/0000-0001-5574-5382"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arash Sioofy Khoojine","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010208403","display_name":"Amir Sohail Khan","orcid":"https://orcid.org/0000-0002-1232-8690","observed_orcids":["https://orcid.org/0000-0002-1232-8690"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amir Sohail Khan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160249511","display_name":"Atany Shuvam Roy","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Atany Shuvam Roy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043359444","display_name":"Dangling Xu","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu Dangling","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160262896","display_name":"Yibin Xie","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yibin Xie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160265489","display_name":"Zeashan Hameed Khan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeashan Hameed Khan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5160271226","display_name":"Mehran Emadi Andani","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mehran Emadi Andani","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":0.79377518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":"2","first_page":"8","last_page":"33"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8779000043869019,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8779000043869019,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.07010000199079514,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.02969999983906746,"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/omnidirectional-mobile-robot","display_name":"omnidirectional mobile robot","score":0.8610000014305115},{"id":"https://openalex.org/keywords/automated-guided-vehicles","display_name":"automated guided vehicles","score":0.9660000205039978},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"sensor fusion","score":0.9739999771118164},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.5979999899864197},{"id":"https://openalex.org/keywords/magnetometer","display_name":"magnetometer","score":0.9100000262260437},{"id":"https://openalex.org/keywords/surf","display_name":"SURF","score":0.8330000042915344},{"id":"https://openalex.org/keywords/sift","display_name":"SIFT","score":0.9919999837875366},{"id":"https://openalex.org/keywords/lidar","display_name":"LiDAR","score":0.7730000019073486},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"SLAM","score":0.9800000190734863},{"id":"https://openalex.org/keywords/sensor-configuration-optimization","display_name":"sensor configuration optimization","score":0.6809999942779541},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.5090000033378601}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6274999976158142},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6223999857902527},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.565500020980835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47530001401901245},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.46810001134872437},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4514999985694885},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4462999999523163},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.44339999556541443},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42640000581741333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41280001401901245},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.38679999113082886},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3528999984264374},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.3465000092983246},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.32910001277923584},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3165000081062317},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31040000915527344},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26989999413490295},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2687999904155731},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.64820/aepjrr.32.8.33.122026","doi":"https://doi.org/10.64820/aepjrr.32.8.33.122026","is_oa":true,"landing_page_url":"https://doi.org/10.64820/aepjrr.32.8.33.122026","pdf_url":null,"source":{"id":"https://openalex.org/S5407051431","display_name":"Journal of Robotics Research","issn_l":"2978-4344","issn":["2978-4344"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.64820/aepjrr.32.8.33.122026","doi":"https://doi.org/10.64820/aepjrr.32.8.33.122026","is_oa":true,"landing_page_url":"https://doi.org/10.64820/aepjrr.32.8.33.122026","pdf_url":null,"source":{"id":"https://openalex.org/S5407051431","display_name":"Journal of Robotics Research","issn_l":"2978-4344","issn":["2978-4344"],"is_oa":true,"is_in_doaj":true,"is_core":false,"listed_in":["doaj"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics Research","raw_type":"journal-article"},"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/W4385192632","https://openalex.org/W7216941752","https://openalex.org/W4411270786","https://openalex.org/W4286357659","https://openalex.org/W7081672556","https://openalex.org/W7170197530","https://openalex.org/W4353068172","https://openalex.org/W2389707547","https://openalex.org/W4404605745","https://openalex.org/W2623173047"],"abstract_inverted_index":{"Omni-directional":[0],"robot":[1],"platforms":[2],"offer":[3],"enhanced":[4],"flexibility,":[5],"maneuverability,":[6],"and":[7,18,42,49,60,69,98,118,143,155,177,188,209],"adaptability,":[8],"making":[9],"them":[10],"suitable":[11],"for":[12,113,191,202],"diverse":[13],"applications.":[14],"This":[15],"study":[16,159],"introduces":[17],"evaluates":[19],"a":[20,35,80,84,102],"novel":[21],"sensor":[22,116,125,163],"fusion":[23,164],"algorithm,":[24],"Extended":[25],"Fusion":[26],"Method":[27],"2":[28],"(EFM2),":[29],"designed":[30],"to":[31,45,111],"integrate":[32],"inputs":[33],"from":[34],"Magnetometer,":[36],"Camera":[37,137],"(with":[38],"SURF/SIFT":[39],"object":[40],"detection),":[41],"Lidar":[43,144],"(SLAM-based)":[44],"achieve":[46],"fast,":[47],"accurate,":[48],"reliable":[50],"navigation.":[51],"The":[52,158],"EFM2":[53,170,189],"algorithm":[54,190],"was":[55,90],"assessed":[56],"through":[57],"both":[58,153],"simulation":[59],"real-world":[61],"experiments":[62],"across":[63],"multiple":[64],"path":[65,119],"geometries,":[66],"including":[67,205],"continuous":[68],"cut":[70],"paths,":[71],"as":[72,74],"well":[73],"industrial-like":[75],"rectangular":[76],"tracks.":[77],"To":[78],"provide":[79],"comprehensive":[81],"performance":[82,151],"evaluation,":[83],"Weighted":[85],"Overall":[86],"Performance":[87],"Index":[88],"(WOPI)":[89],"developed,":[91],"combining":[92],"conventional":[93],"metrics":[94],"velocity,":[95],"accuracy,":[96,176],"stability,":[97],"task":[99],"success":[100],"into":[101],"single":[103],"holistic":[104],"measure.":[105],"Monte":[106],"Carlo":[107],"simulations":[108],"were":[109],"employed":[110],"account":[112],"variability":[114],"in":[115,152,195],"behavior":[117],"conditions,":[120],"enabling":[121],"robust":[122],"ranking":[123],"of":[124,184,211],"configurations.":[126],"Results":[127],"demonstrate":[128],"that":[129,162],"the":[130,149,182,185],"optimal":[131],"configuration":[132],"Magnet":[133],"at":[134,138,145],"speed":[135,139,146],"10,":[136],"5":[140],"with":[141,169],"SURF,":[142],"10":[147],"achieves":[148],"highest":[150],"simulated":[154],"real":[156],"environments.":[157],"further":[160],"shows":[161],"consistently":[165],"outperforms":[166],"single-sensor":[167],"setups,":[168],"providing":[171],"superior":[172],"balance":[173],"between":[174],"speed,":[175],"reliability.":[178],"These":[179],"findings":[180],"validate":[181],"effectiveness":[183],"WOPI":[186],"framework":[187],"advanced,":[192],"performance-aware":[193],"navigation":[194],"dynamic":[196],"robotic":[197],"applications,":[198],"while":[199],"highlighting":[200],"directions":[201],"future":[203],"improvements,":[204],"learning-based":[206],"weight":[207],"optimization":[208],"integration":[210],"additional":[212],"sensing":[213],"modalities.":[214]},"counts_by_year":[],"updated_date":"2026-11-02T09:45:03.842371","created_date":"2026-11-01T00:00:00"}
