{"id":"https://openalex.org/W3025473643","doi":"https://doi.org/10.1109/access.2020.2994652","title":"Urban Navigation System With Multiple Sub-Maps and Multiple Sub-Navigators","display_name":"Urban Navigation System With Multiple Sub-Maps and Multiple Sub-Navigators","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3025473643","doi":"https://doi.org/10.1109/access.2020.2994652","mag":"3025473643"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2994652","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2994652","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09093913.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09093913.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071852474","display_name":"Sukhum Sattaratnamai","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Sukhum Sattaratnamai","raw_affiliation_strings":["Chulalongkorn University, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chulalongkorn University, Bangkok, Thailand","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054598236","display_name":"Nattee Niparnan","orcid":"https://orcid.org/0000-0003-2974-8699"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Nattee Niparnan","raw_affiliation_strings":["Chulalongkorn University, Bangkok, Thailand"],"raw_orcid":"https://orcid.org/0000-0003-2974-8699","affiliations":[{"raw_affiliation_string":"Chulalongkorn University, Bangkok, Thailand","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010048726","display_name":"Attawith Sudsang","orcid":"https://orcid.org/0000-0002-1667-7193"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Attawith Sudsang","raw_affiliation_strings":["Chulalongkorn University, Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chulalongkorn University, Bangkok, Thailand","institution_ids":["https://openalex.org/I158708052"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I158708052"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.0409692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"8","issue":null,"first_page":"99974","last_page":"99989"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9937000274658203,"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/computer-science","display_name":"Computer science","score":0.7450108528137207},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7395042181015015},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6001355051994324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5755223035812378},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5506948828697205},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5466613173484802},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5205846428871155},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.49303218722343445},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45078128576278687},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42813581228256226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40641075372695923},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3903725743293762},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.14973124861717224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10333648324012756},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10123860836029053}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7450108528137207},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7395042181015015},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6001355051994324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5755223035812378},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5506948828697205},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5466613173484802},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5205846428871155},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.49303218722343445},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45078128576278687},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42813581228256226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40641075372695923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3903725743293762},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.14973124861717224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10333648324012756},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10123860836029053},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2994652","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2994652","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09093913.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:aa3c0387e69742ef99d5db9c0123222b","is_oa":true,"landing_page_url":"https://doaj.org/article/aa3c0387e69742ef99d5db9c0123222b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 99974-99989 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2994652","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2994652","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09093913.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4463043996","display_name":null,"funder_award_id":"PHD/0018/2556","funder_id":"https://openalex.org/F4320327548","funder_display_name":"Royal Golden Jubilee (RGJ) Ph.D. Programme"}],"funders":[{"id":"https://openalex.org/F4320322614","display_name":"Thailand Research Fund","ror":"https://ror.org/03gd1bh37"},{"id":"https://openalex.org/F4320327548","display_name":"Royal Golden Jubilee (RGJ) Ph.D. Programme","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3025473643.pdf","grobid_xml":"https://content.openalex.org/works/W3025473643.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1535841975","https://openalex.org/W1972267259","https://openalex.org/W1973080743","https://openalex.org/W1981439420","https://openalex.org/W2019385942","https://openalex.org/W2025836198","https://openalex.org/W2040938785","https://openalex.org/W2052663203","https://openalex.org/W2088202621","https://openalex.org/W2101698678","https://openalex.org/W2117942211","https://openalex.org/W2120033805","https://openalex.org/W2122305929","https://openalex.org/W2125297055","https://openalex.org/W2142036820","https://openalex.org/W2161873380","https://openalex.org/W2164148538","https://openalex.org/W2341115255","https://openalex.org/W2402652555","https://openalex.org/W2410261032","https://openalex.org/W2418957160","https://openalex.org/W2423456227","https://openalex.org/W2587910283","https://openalex.org/W2622358436","https://openalex.org/W2623188843","https://openalex.org/W2739935974","https://openalex.org/W2793236954","https://openalex.org/W2951349360","https://openalex.org/W2963032934","https://openalex.org/W2963872397","https://openalex.org/W3106240518"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608","https://openalex.org/W2122735287","https://openalex.org/W2324656256"],"abstract_inverted_index":{"Deploying":[0],"an":[1,5,102],"autonomous":[2],"robot":[3,104],"in":[4,68,72,105],"urban":[6],"environment":[7,32],"with":[8,79,109],"heterogeneous":[9],"sub-area":[10],"is":[11,45,96],"a":[12,25,47,57,69,97,106],"challenging":[13],"task":[14],"that":[15,50],"requires":[16],"different":[17,80],"types":[18],"of":[19,30,39,41,62,85,88,93],"navigation":[20,43,59,66],"and":[21,82,112],"map":[22],"representation.":[23],"In":[24],"real-world":[26,58,98,110],"setting,":[27],"spontaneous":[28],"change":[29],"the":[31,42,77,83,89,94],"such":[33],"as":[34],"sudden":[35],"raining":[36],"or":[37],"congestion":[38],"parts":[40],"area":[44],"also":[46],"common":[48],"event":[49],"must":[51],"be":[52],"handled.":[53],"This":[54],"paper":[55],"presents":[56],"system":[60,95,108],"capable":[61],"switching":[63],"among":[64],"multiple":[65],"algorithms":[67],"novel":[70],"manner":[71],"order":[73],"to":[74],"properly":[75],"handle":[76],"workspace":[78],"characteristics":[81],"challenge":[84],"changing":[86],"condition":[87],"environment.":[90,113],"The":[91],"design":[92],"result":[99],"from":[100],"deploying":[101],"actual":[103],"live":[107],"user":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
