{"id":"https://openalex.org/W7129078066","doi":"https://doi.org/10.1109/access.2026.3664968","title":"Integration of UWB Radar on Mobile Robots for Continuous Obstacle and Environment Mapping","display_name":"Integration of UWB Radar on Mobile Robots for Continuous Obstacle and Environment Mapping","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7129078066","doi":"https://doi.org/10.1109/access.2026.3664968"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3664968","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3664968","pdf_url":null,"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://doi.org/10.1109/access.2026.3664968","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126095059","display_name":"Adelina Giurea","orcid":null},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Adelina Giurea","raw_affiliation_strings":["Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126125790","display_name":"Stijn Luchie","orcid":null},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Stijn Luchie","raw_affiliation_strings":["Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013896145","display_name":"Dieter Coppens","orcid":"https://orcid.org/0000-0002-8553-441X"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Dieter Coppens","raw_affiliation_strings":["Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022588449","display_name":"Jeroen Hoebeke","orcid":"https://orcid.org/0000-0003-2039-007X"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jeroen Hoebeke","raw_affiliation_strings":["Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126164386","display_name":"Eli De Poorter","orcid":null},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Eli de Poorter","raw_affiliation_strings":["Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, imec, IDLab Research Group, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5126095059"],"corresponding_institution_ids":["https://openalex.org/I32597200"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.72242444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"25663","last_page":"25676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.649399995803833,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.649399995803833,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11739","display_name":"Microwave Imaging and Scattering Analysis","score":0.09730000048875809,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11609","display_name":"Geophysical Methods and Applications","score":0.06870000064373016,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/obstacle","display_name":"Obstacle","score":0.6647999882698059},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5730999708175659},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5558000206947327},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.5005000233650208},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.41760000586509705},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.41760000586509705},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40310001373291016},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.39410001039505005},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.3873000144958496},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.37880000472068787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7867000102996826},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6647999882698059},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5730999708175659},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5558000206947327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.538100004196167},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.5005000233650208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45100000500679016},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4350000023841858},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.41760000586509705},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.41760000586509705},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40310001373291016},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.39410001039505005},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.3873000144958496},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.37880000472068787},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3765999972820282},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3625999987125397},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3497999906539917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34549999237060547},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.313400000333786},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C59584813","wikidata":"https://www.wikidata.org/wiki/Q1029234","display_name":"Continuous-wave radar","level":4,"score":0.26840001344680786},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.2669000029563904},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.26669999957084656},{"id":"https://openalex.org/C72279823","wikidata":"https://www.wikidata.org/wiki/Q1139726","display_name":"Impulse response","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C161475128","wikidata":"https://www.wikidata.org/wiki/Q6746448","display_name":"Man-portable radar","level":5,"score":0.25940001010894775},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.2556999921798706}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3664968","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3664968","pdf_url":null,"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:0c70a23b5cf1480fadc06ae97413fbb6","is_oa":true,"landing_page_url":"https://doaj.org/article/0c70a23b5cf1480fadc06ae97413fbb6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 25663-25676 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3664968","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3664968","pdf_url":null,"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":[{"score":0.6524768471717834,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,189],"paper":[1],"presents":[2],"an":[3],"infrastructure-free":[4],"approach":[5,149],"for":[6,70,194,224],"obstacle":[7,158],"detection":[8,159],"and":[9,29,32,85,87,92,133,137,144,153,181,200],"environmental":[10,71],"mapping":[11,72,109,201],"using":[12],"ultra-wideband":[13],"(UWB)":[14],"radar":[15,53,69],"mounted":[16],"on":[17,121,128,141,186,208,220],"a":[18,55,101,162,177,182,192],"mobile":[19],"robotic":[20],"platform.":[21],"Traditional":[22],"sensing":[23],"modalities":[24],"such":[25,171],"as":[26,172],"visual":[27,209],"cameras":[28],"Light":[30],"Detection":[31],"Ranging":[33],"(LiDAR)":[34],"fail":[35],"in":[36,73,167],"environments":[37],"with":[38],"poor":[39],"visibility":[40],"due":[41],"to":[42,106],"darkness,":[43],"smoke,":[44],"or":[45],"reflective":[46],"surfaces.":[47],"In":[48],"these":[49],"visioned-impaired":[50],"conditions,":[51],"UWB":[52,68,88,214],"offers":[54,191],"promising":[56],"alternative.":[57],"To":[58],"this":[59,61],"end,":[60],"work":[62,190],"explores":[63],"the":[64,95,174],"suitability":[65],"of":[66,110,114,135,164,179,184,197],"robot-mounted":[67],"anchor-free,":[74],"unknown":[75],"scenarios.":[76],"The":[77,147],"study":[78],"investigates":[79],"how":[80],"different":[81],"materials":[82],"(metal,":[83],"concrete":[84],"plywood)":[86],"radio":[89],"channels":[90],"(5":[91],"9)":[93],"influence":[94],"Channel":[96],"Impulse":[97],"Response":[98],"(CIR).":[99],"Furthermore,":[100],"processing":[102],"pipeline":[103],"is":[104],"proposed":[105,148],"achieve":[107],"reliable":[108],"detected":[111],"obstacles,":[112],"consisting":[113],"3":[115],"steps:":[116],"(i)":[117],"target":[118],"identification":[119],"(based":[120,127,140],"CIR":[122],"peak":[123,129],"detection),":[124],"(ii)":[125],"filtering":[126],"properties,":[130],"signal-to-noise":[131],"score,":[132],"phase-difference":[134],"arrival),":[136],"(iii)":[138],"clustering":[139],"distance":[142],"estimation":[143],"angle-of-arrival":[145],"estimation).":[146],"successfully":[150],"reduces":[151],"noise":[152],"multipath":[154],"effects,":[155],"achieving":[156],"high":[157],"performance":[160],"across":[161],"range":[163],"materials.":[165],"Even":[166],"challenging":[168],"low-reflectivity":[169],"scenarios":[170],"concrete,":[173],"method":[175],"achieves":[176],"precision":[178],"73.42%":[180],"recall":[183],"83.38%":[185],"channel":[187],"9.":[188],"foundation":[193],"further":[195],"development":[196],"UWB-based":[198],"localisation":[199,215],"(SLAM)":[202],"systems":[203],"that":[204],"do":[205,217],"not":[206,218],"rely":[207],"features":[210],"and,":[211],"unlike":[212],"conventional":[213],"systems,":[216],"require":[219],"fixed":[221],"anchor":[222],"nodes":[223],"triangulation.":[225]},"counts_by_year":[],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2026-02-17T00:00:00"}