{"id":"https://openalex.org/W2077539472","doi":"https://doi.org/10.1109/ais.2010.5547019","title":"Environment mapping using probabilistic quadtree for the guidance and control of autonomous mobile robots","display_name":"Environment mapping using probabilistic quadtree for the guidance and control of autonomous mobile robots","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2077539472","doi":"https://doi.org/10.1109/ais.2010.5547019","mag":"2077539472"},"language":"en","primary_location":{"id":"doi:10.1109/ais.2010.5547019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ais.2010.5547019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 International Conference on Autonomous and Intelligent Systems, AIS 2010","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/A5018365661","display_name":"Cedric Cocaud","orcid":null},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Cedric Cocaud","raw_affiliation_strings":["Department of Mechanical Engineering, Royal Military College of Canada, Kingston, ONT, Canada","Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario K7K 7B4, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Royal Military College of Canada, Kingston, ONT, Canada","institution_ids":["https://openalex.org/I51768193"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario K7K 7B4, Canada","institution_ids":["https://openalex.org/I51768193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080155380","display_name":"Amor Jnifene","orcid":null},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amor Jnifene","raw_affiliation_strings":["Department of Mechanical Engineering, Royal Military College of Canada, Kingston, ONT, Canada","Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario K7K 7B4, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Royal Military College of Canada, Kingston, ONT, Canada","institution_ids":["https://openalex.org/I51768193"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario K7K 7B4, Canada","institution_ids":["https://openalex.org/I51768193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018365661"],"corresponding_institution_ids":["https://openalex.org/I51768193"],"apc_list":null,"apc_paid":null,"fwci":0.3187,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.60763664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"27","issue":null,"first_page":"1","last_page":"6"},"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":0.9980000257492065,"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":0.9878000020980835,"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/quadtree","display_name":"Quadtree","score":0.9003077745437622},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8510422110557556},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811961531639099},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6674709320068359},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5835190415382385},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5618762373924255},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5326979160308838},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49741724133491516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46628355979919434},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4554876387119293},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4206077456474304},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38555607199668884},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3711887300014496},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13684296607971191}],"concepts":[{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.9003077745437622},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8510422110557556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811961531639099},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6674709320068359},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5835190415382385},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5618762373924255},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5326979160308838},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49741724133491516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46628355979919434},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4554876387119293},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4206077456474304},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38555607199668884},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3711887300014496},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13684296607971191},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ais.2010.5547019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ais.2010.5547019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 International Conference on Autonomous and Intelligent Systems, AIS 2010","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":29,"referenced_works":["https://openalex.org/W1506647431","https://openalex.org/W1564339554","https://openalex.org/W1580721220","https://openalex.org/W1999006234","https://openalex.org/W1999050017","https://openalex.org/W2010806162","https://openalex.org/W2012109553","https://openalex.org/W2016363173","https://openalex.org/W2017218980","https://openalex.org/W2042916764","https://openalex.org/W2070675221","https://openalex.org/W2071988465","https://openalex.org/W2105224473","https://openalex.org/W2112050133","https://openalex.org/W2112793821","https://openalex.org/W2113790233","https://openalex.org/W2139037949","https://openalex.org/W2146123848","https://openalex.org/W2149020252","https://openalex.org/W2149390325","https://openalex.org/W2167058996","https://openalex.org/W2167061621","https://openalex.org/W2168003214","https://openalex.org/W2171321117","https://openalex.org/W2795855416","https://openalex.org/W6630129902","https://openalex.org/W6676506760","https://openalex.org/W6750240374","https://openalex.org/W6763868703"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,17,27,102,116],"implementation":[4],"of":[5,19,63,101],"an":[6,97],"environment":[7],"mapping":[8],"technique":[9],"based":[10,43],"on":[11,44],"a":[12,64,72,79],"probabilistic":[13,58],"quadtree":[14,59],"which":[15,70],"records":[16],"location":[18],"static":[20],"and":[21,66,78,108],"dynamic":[22],"obstacles,":[23],"as":[24,26],"well":[25],"certainty":[28],"over":[29],"each":[30,94],"obstacle's":[31],"estimated":[32],"position.":[33],"The":[34,57,84],"quadtree-based":[35],"map":[36,60,86],"is":[37,61,87,112],"updated":[38],"online":[39],"(i.e.":[40],"near-real":[41],"time)":[42],"multi-sensor":[45],"feeds":[46],"originating":[47],"from":[48],"one":[49],"to":[50],"three":[51],"X80":[52,121],"mobile":[53,91,122],"robots":[54,92],"operating":[55],"simultaneously.":[56],"part":[62],"guidance":[65,107],"navigation":[67,109],"control":[68,110],"system":[69,111],"combines":[71],"Genetic":[73],"Algorithm-based":[74],"global":[75],"path":[76],"planner":[77],"Potential":[80],"Field":[81],"local":[82],"controller.":[83,99],"centralized":[85],"shared":[88],"by":[89],"all":[90],"although":[93],"robot":[95],"has":[96],"independent":[98],"Performance":[100],"proposed":[103],"method":[104],"for":[105],"this":[106],"demonstrated":[113],"experimentally":[114],"with":[115],"Dr.":[117],"Robot's":[118],"\u2122":[119],"wireless":[120],"robots.":[123]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}