{"id":"https://openalex.org/W3206376184","doi":"https://doi.org/10.1109/access.2021.3120216","title":"ASTRON: Action-Based Spatio-Temporal Robot Navigation","display_name":"ASTRON: Action-Based Spatio-Temporal Robot Navigation","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3206376184","doi":"https://doi.org/10.1109/access.2021.3120216","mag":"3206376184"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3120216","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3120216","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09570359.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":null,"license_id":null,"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/ielx7/6287639/6514899/09570359.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063673622","display_name":"Yosuke Kawasaki","orcid":"https://orcid.org/0000-0002-3076-3258"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Kawasaki","raw_affiliation_strings":["School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan. (e-mail: y-kawasaki@keio.jp)","The School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3076-3258","affiliations":[{"raw_affiliation_string":"School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan. (e-mail: y-kawasaki@keio.jp)","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"The School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032507450","display_name":"Shunsuke Mochizuki","orcid":"https://orcid.org/0000-0001-6010-0335"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Mochizuki","raw_affiliation_strings":["School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6010-0335","affiliations":[{"raw_affiliation_string":"School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039641882","display_name":"Masaki Takahashi","orcid":"https://orcid.org/0000-0001-8138-041X"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Takahashi","raw_affiliation_strings":["Department of System Design Engineering, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8138-041X","affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4711,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64850819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":null,"first_page":"141709","last_page":"141724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7939550280570984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6965540647506714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5681759715080261},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5241373181343079},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.47362014651298523},{"id":"https://openalex.org/keywords/astron","display_name":"Astron","score":0.4716940224170685},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4495684504508972},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44357359409332275},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3488764762878418},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14717325568199158},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1446686089038849}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7939550280570984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6965540647506714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5681759715080261},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5241373181343079},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.47362014651298523},{"id":"https://openalex.org/C2776611462","wikidata":"https://www.wikidata.org/wiki/Q4811600","display_name":"Astron","level":2,"score":0.4716940224170685},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4495684504508972},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44357359409332275},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3488764762878418},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14717325568199158},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1446686089038849},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3120216","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3120216","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09570359.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e49e205034404b8489ce01cb68eb63d6","is_oa":true,"landing_page_url":"https://doaj.org/article/e49e205034404b8489ce01cb68eb63d6","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 9, Pp 141709-141724 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3120216","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3120216","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09570359.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2400304387","display_name":null,"funder_award_id":"JPMJCR19A1","funder_id":"https://openalex.org/F4320338075","funder_display_name":"Core Research for Evolutional Science and Technology"},{"id":"https://openalex.org/G2521286739","display_name":null,"funder_award_id":"CREST","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"},{"id":"https://openalex.org/G5874599740","display_name":"\u6587\u8108\u3068\u89e3\u91c8\u306e\u540c\u6642\u63a8\u5b9a\u306b\u57fa\u3065\u304f\u76f8\u4e92\u7406\u89e3\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u73fe","funder_award_id":"JPMJCR19A1","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"}],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"},{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3206376184.pdf","grobid_xml":"https://content.openalex.org/works/W3206376184.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1933657216","https://openalex.org/W1983855471","https://openalex.org/W2109731149","https://openalex.org/W2119709400","https://openalex.org/W2141841102","https://openalex.org/W2154418813","https://openalex.org/W2154857596","https://openalex.org/W2265661972","https://openalex.org/W2337392266","https://openalex.org/W2346513076","https://openalex.org/W2794922736","https://openalex.org/W2891037229","https://openalex.org/W2946846990","https://openalex.org/W2947311533","https://openalex.org/W2952182464","https://openalex.org/W2963048817","https://openalex.org/W2963150697","https://openalex.org/W2963357556","https://openalex.org/W2967353954","https://openalex.org/W2981773282","https://openalex.org/W3004054914","https://openalex.org/W3132058511","https://openalex.org/W6646074082","https://openalex.org/W6789830278"],"related_works":["https://openalex.org/W2950023978","https://openalex.org/W2584045975","https://openalex.org/W3102601968","https://openalex.org/W4229963099","https://openalex.org/W2061344757","https://openalex.org/W2014154804","https://openalex.org/W2122871747","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3114279067"],"abstract_inverted_index":{"To":[0],"achieve":[1],"the":[2,43,58,61,64,68,71,92,95,103,106,115,127,132,136,141,160,174,178,184,201,205,221,226,232,236,240,244],"tasks":[3,233],"provided":[4],"by":[5,50,56,111,172,234],"a":[6,15,52,85,164,196],"user,":[7],"it":[8],"is":[9,30,48,109],"necessary":[10],"for":[11,39],"robots":[12,69,161,211],"to":[13,31,90,118,162,210,230],"have":[14],"plan":[16,47,225],"that":[17,168,220],"fully":[18],"exploits":[19],"their":[20,170],"functionalities":[21],"in":[22,36,73,99,140,195],"an":[23,81,146],"environment.":[24,142,199],"The":[25,46,181,216],"objective":[26],"of":[27,42,63,67,94,138,183,243],"this":[28,76],"study":[29],"realize":[32],"robot":[33,149,155],"task":[34],"planning":[35],"real":[37,100],"space":[38],"effectively":[40],"use":[41],"robot\u2019s":[44,96],"functions":[45,171],"formed":[49],"deriving":[51],"feasible":[53,121,128,165,227],"action":[54,65,82,97,104,107,166,179,228],"sequence":[55,167,229],"interpreting":[57,173],"instructions":[59,175],"within":[60],"scope":[62],"possibilities":[66],"and":[70,123,135,191,239],"changes":[72],"them.":[74],"In":[75,102,200],"paper,":[77],"we":[78],"first":[79],"propose":[80,145],"graph":[83],"as":[84],"novel":[86],"environmental":[87,237],"representation":[88],"approach":[89],"facilitate":[91],"understanding":[93],"possibility":[98,108],"space.":[101],"graph,":[105],"represented":[110],"nodes,":[112],"which":[113,125,152],"describe":[114,126],"spatial":[116],"position":[117],"perform":[119],"each":[120],"action,":[122],"edges,":[124],"actions,":[129],"based":[130,176],"on":[131,154,177],"subsystem-level":[133],"affordance":[134],"arrangement":[137],"objects":[139],"We":[143],"also":[144],"action-based":[147],"spatio-temporal":[148],"navigation":[150,156],"(ASTRON),":[151],"focuses":[153],"tasks.":[157],"ASTRON":[158],"enables":[159],"determine":[163],"utilizes":[169],"graph.":[180],"effectiveness":[182],"proposed":[185,206,222],"method":[186,207,223],"was":[187,208],"evaluated":[188],"through":[189],"simulations":[190],"actual":[192,202],"machine":[193,203],"experiments":[194],"coffee":[197],"shop":[198],"experiments,":[204],"applied":[209],"with":[212],"different":[213],"subsystem":[214,241],"configurations.":[215],"experimental":[217],"results":[218],"demonstrated":[219],"could":[224],"complete":[231],"considering":[235],"state":[238],"configurations":[242],"robot.":[245]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}