{"id":"https://openalex.org/W4386430861","doi":"https://doi.org/10.1007/978-3-031-43111-1_11","title":"Comparison of ROS Local Planners for a Holonomic Robot in Gazebo Simulator","display_name":"Comparison of ROS Local Planners for a Holonomic Robot in Gazebo Simulator","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386430861","doi":"https://doi.org/10.1007/978-3-031-43111-1_11"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-43111-1_11","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-43111-1_11","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062980698","display_name":"Artem Apurin","orcid":"https://orcid.org/0000-0001-8362-6276"},"institutions":[{"id":"https://openalex.org/I21203515","display_name":"Kazan Federal University","ror":"https://ror.org/05256ym39","country_code":"RU","type":"education","lineage":["https://openalex.org/I21203515"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Artem Apurin","raw_affiliation_strings":["Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35, Kremlyovskaya street, Kazan, 420111, Russia"],"raw_orcid":"https://orcid.org/0000-0001-8362-6276","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35, Kremlyovskaya street, Kazan, 420111, Russia","institution_ids":["https://openalex.org/I21203515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077520327","display_name":"Bulat Abbyasov","orcid":"https://orcid.org/0000-0001-5887-2731"},"institutions":[{"id":"https://openalex.org/I21203515","display_name":"Kazan Federal University","ror":"https://ror.org/05256ym39","country_code":"RU","type":"education","lineage":["https://openalex.org/I21203515"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Bulat Abbyasov","raw_affiliation_strings":["Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35, Kremlyovskaya street, Kazan, 420111, Russia"],"raw_orcid":"https://orcid.org/0000-0001-5887-2731","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35, Kremlyovskaya street, Kazan, 420111, Russia","institution_ids":["https://openalex.org/I21203515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008221002","display_name":"Edgar A. Mart\u00ednez\u2010Garc\u00eda","orcid":"https://orcid.org/0000-0001-9163-8285"},"institutions":[{"id":"https://openalex.org/I114756412","display_name":"Universidad Aut\u00f3noma de Ciudad Ju\u00e1rez","ror":"https://ror.org/05fj8cf83","country_code":"MX","type":"education","lineage":["https://openalex.org/I114756412"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Edgar A. Mart\u00ednez-Garc\u00eda","raw_affiliation_strings":["Institute of Engineering and Technology, Department of Industrial Engineering and Manufacturing, Autonomous University of Ciudad Juarez, Manuel D\u00edaz H. No. 518-B Zona Pronaf Condominio, Chihuahua, 32315, Cd Ju\u00e1rez, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-9163-8285","affiliations":[{"raw_affiliation_string":"Institute of Engineering and Technology, Department of Industrial Engineering and Manufacturing, Autonomous University of Ciudad Juarez, Manuel D\u00edaz H. No. 518-B Zona Pronaf Condominio, Chihuahua, 32315, Cd Ju\u00e1rez, Mexico","institution_ids":["https://openalex.org/I114756412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046438244","display_name":"Evgeni Magid","orcid":"https://orcid.org/0000-0001-7316-5664"},"institutions":[{"id":"https://openalex.org/I115911606","display_name":"Moscow State Institute of Electronics and Mathematics","ror":"https://ror.org/05dhkbw86","country_code":"RU","type":"education","lineage":["https://openalex.org/I115911606"]},{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]},{"id":"https://openalex.org/I21203515","display_name":"Kazan Federal University","ror":"https://ror.org/05256ym39","country_code":"RU","type":"education","lineage":["https://openalex.org/I21203515"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeni Magid","raw_affiliation_strings":["Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35, Kremlyovskaya street, Kazan, 420111, Russia","Tikhonov Moscow Institute of Electronics and Mathematics, HSE University, 34, Tallinn street, Moscow, 123458, Russia"],"raw_orcid":"https://orcid.org/0000-0001-7316-5664","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35, Kremlyovskaya street, Kazan, 420111, Russia","institution_ids":["https://openalex.org/I21203515"]},{"raw_affiliation_string":"Tikhonov Moscow Institute of Electronics and Mathematics, HSE University, 34, Tallinn street, Moscow, 123458, Russia","institution_ids":["https://openalex.org/I118501908","https://openalex.org/I115911606"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062980698"],"corresponding_institution_ids":["https://openalex.org/I21203515"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":2.7593,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94201313,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"116","last_page":"126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9905999898910522,"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":0.9901999831199646,"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/motion-planning","display_name":"Motion planning","score":0.7363541126251221},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7245456576347351},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7237430810928345},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6921695470809937},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6830658912658691},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6695519685745239},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6361939907073975},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5374377965927124},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5277681350708008},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5250520706176758},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5215142369270325},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3979363739490509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35796457529067993}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7363541126251221},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7245456576347351},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7237430810928345},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6921695470809937},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6830658912658691},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6695519685745239},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6361939907073975},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5374377965927124},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5277681350708008},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5250520706176758},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5215142369270325},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3979363739490509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35796457529067993},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-031-43111-1_11","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-43111-1_11","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W156975732","https://openalex.org/W2043945312","https://openalex.org/W2117211893","https://openalex.org/W2146842431","https://openalex.org/W2167340365","https://openalex.org/W2795480661","https://openalex.org/W2955399703","https://openalex.org/W2955686343","https://openalex.org/W2963489869","https://openalex.org/W2966077615","https://openalex.org/W3009720881","https://openalex.org/W3034580387","https://openalex.org/W3125049105","https://openalex.org/W3128019105","https://openalex.org/W3170942355","https://openalex.org/W4312993465","https://openalex.org/W4322749878","https://openalex.org/W4384159362"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713","https://openalex.org/W4380590094"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2026-01-20T17:24:06.736184","created_date":"2025-10-10T00:00:00"}