{"id":"https://openalex.org/W1537096407","doi":"https://doi.org/10.1109/aim.2015.7222542","title":"Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera","display_name":"Vision-based path coordination for multiple mobile robots with four steering wheels using an overhead camera","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1537096407","doi":"https://doi.org/10.1109/aim.2015.7222542","mag":"1537096407"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","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/A5070673643","display_name":"Zahra Ziaei","orcid":"https://orcid.org/0000-0002-6465-7103"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Zahra Ziaei","raw_affiliation_strings":["Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Tampere, Finland","Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Finland"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Tampere, Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Finland","institution_ids":["https://openalex.org/I4210133110"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010048989","display_name":"Reza Oftadeh","orcid":"https://orcid.org/0000-0001-8319-598X"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Reza Oftadeh","raw_affiliation_strings":["Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Tampere, Finland","Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Finland"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Tampere, Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Finland","institution_ids":["https://openalex.org/I4210133110"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Finland"],"affiliations":[{"raw_affiliation_string":"Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","institution_ids":[]},{"raw_affiliation_string":"Department of Intelligent Hydraulics and Automation (IHA), Tampere University of Technology, Finland","institution_ids":["https://openalex.org/I4210133110"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070673643"],"corresponding_institution_ids":["https://openalex.org/I4210133110"],"apc_list":null,"apc_paid":null,"fwci":0.3682,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66098288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"261","last_page":"268"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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/mobile-robot","display_name":"Mobile robot","score":0.773171067237854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6081653237342834},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5496575832366943},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5403485894203186},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5306668877601624},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5039946436882019},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.5010449886322021},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4870062470436096},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.4844822585582733},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4624398648738861},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43727031350135803},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4360373020172119},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4241108000278473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4063359797000885},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3640265464782715},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35142016410827637},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.27208858728408813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23156791925430298},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13601770997047424}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.773171067237854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6081653237342834},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5496575832366943},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5403485894203186},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5306668877601624},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5039946436882019},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.5010449886322021},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4870062470436096},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.4844822585582733},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4624398648738861},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43727031350135803},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4360373020172119},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4241108000278473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4063359797000885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3640265464782715},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35142016410827637},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.27208858728408813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23156791925430298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13601770997047424},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2015.7222542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W117236151","https://openalex.org/W1559302327","https://openalex.org/W1586309761","https://openalex.org/W1999426267","https://openalex.org/W2001909811","https://openalex.org/W2071001433","https://openalex.org/W2104034461","https://openalex.org/W2116966230","https://openalex.org/W2124015815","https://openalex.org/W2126248492","https://openalex.org/W2130557117","https://openalex.org/W2130695985","https://openalex.org/W2150488798","https://openalex.org/W2158575902","https://openalex.org/W2162481101","https://openalex.org/W2165667403","https://openalex.org/W3141249872","https://openalex.org/W4243129725","https://openalex.org/W4248398474","https://openalex.org/W4251282911","https://openalex.org/W4300449797"],"related_works":["https://openalex.org/W4381746183","https://openalex.org/W2165574943","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"extend":[4],"our":[5],"previous":[6],"work":[7],"to":[8,23,53,59,79,107,127,147],"introduce":[9],"a":[10],"vision-based":[11],"path":[12,137],"coordination":[13,138],"method":[14,98,134],"for":[15,49,88,103,135],"multiple":[16,104,140],"mobile":[17,55,90,105,141],"robots":[18,106,142],"with":[19,57,143],"four":[20,144],"steering":[21,86,145],"wheels":[22,51,146],"avoid":[24,108,148],"mutual":[25,149],"collisions,":[26],"so":[27],"that":[28,111],"the":[29,35,39,46,72,75,96,101,129,132,136],"generated":[30,115],"paths":[31],"are":[32,112,125],"always":[33],"in":[34,118],"visibility":[36],"range":[37],"of":[38,74,95,131,139],"overhead":[40],"camera.":[41,67],"The":[42,92],"proposed":[43,97,133],"algorithm":[44],"generates":[45],"synchronized":[47,69],"trajectories":[48,70,102],"all":[50],"belonging":[52],"each":[54,89],"robot,":[56],"respect":[58],"its":[60],"inertial-frame,":[61],"relying":[62],"on":[63],"only":[64],"one":[65],"calibrated":[66],"These":[68],"reduce":[71],"complexity":[73],"robot":[76],"kinematic":[77],"model":[78],"plan":[80],"maximum":[81],"allowable":[82],"bounded":[83],"driving":[84],"and":[85],"velocities":[87],"robot.":[91],"main":[93],"contribution":[94],"is":[99],"coordinating":[100],"intersection":[109],"boundaries":[110],"obtained":[113],"by":[114],"geometrical":[116],"traces":[117],"real":[119],"world":[120],"coordinates.":[121],"Our":[122],"experimental":[123],"results":[124],"presented":[126],"illustrate":[128],"efficiency":[130],"collision.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}