{"id":"https://openalex.org/W4312307317","doi":"https://doi.org/10.1109/case49997.2022.9926537","title":"Bio-Inspired Obstacle Avoidance using Wavelet-Based Element Analysis","display_name":"Bio-Inspired Obstacle Avoidance using Wavelet-Based Element Analysis","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312307317","doi":"https://doi.org/10.1109/case49997.2022.9926537"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926537","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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/A5006711436","display_name":"Shakeeb Ahmad","orcid":"https://orcid.org/0000-0002-6251-2146"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shakeeb Ahmad","raw_affiliation_strings":["University of Colorado Boulder,Department of Aerospace Engineering Sciences,CO","Department of Aerospace Engineering Sciences, University of Colorado Boulder, CO"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Aerospace Engineering Sciences,CO","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Department of Aerospace Engineering Sciences, University of Colorado Boulder, CO","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065176255","display_name":"Zoe Turin","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zoe Turin","raw_affiliation_strings":["University of Colorado Boulder,Department of Mechanical Engineering,CO","Department of Mechanical Engineering, University of Colorado Boulder, CO"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Mechanical Engineering,CO","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, CO","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073287604","display_name":"J. Sean Humbert","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Sean Humbert","raw_affiliation_strings":["University of Colorado Boulder,Department of Mechanical Engineering,CO","Department of Mechanical Engineering, University of Colorado Boulder, CO"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Mechanical Engineering,CO","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, CO","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006711436"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50377188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2307","last_page":"2313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9829000234603882,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9829000234603882,"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/T11472","display_name":"Analytical Chemistry and Sensors","score":0.9563000202178955,"subfield":{"id":"https://openalex.org/subfields/1502","display_name":"Bioengineering"},"field":{"id":"https://openalex.org/fields/15","display_name":"Chemical Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.944100022315979,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wavelet","display_name":"Wavelet","score":0.8064020276069641},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7083331346511841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6674536466598511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.546419084072113},{"id":"https://openalex.org/keywords/wavelet-transform","display_name":"Wavelet transform","score":0.5358995199203491},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5306298732757568},{"id":"https://openalex.org/keywords/legendre-wavelet","display_name":"Legendre wavelet","score":0.4997270107269287},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4729832410812378},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44216999411582947},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4384388327598572},{"id":"https://openalex.org/keywords/fast-wavelet-transform","display_name":"Fast wavelet transform","score":0.43581077456474304},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42024219036102295},{"id":"https://openalex.org/keywords/discrete-wavelet-transform","display_name":"Discrete wavelet transform","score":0.35364553332328796},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24693888425827026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16884368658065796},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0841650664806366}],"concepts":[{"id":"https://openalex.org/C47432892","wikidata":"https://www.wikidata.org/wiki/Q831390","display_name":"Wavelet","level":2,"score":0.8064020276069641},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7083331346511841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6674536466598511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.546419084072113},{"id":"https://openalex.org/C196216189","wikidata":"https://www.wikidata.org/wiki/Q2867","display_name":"Wavelet transform","level":3,"score":0.5358995199203491},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5306298732757568},{"id":"https://openalex.org/C123769847","wikidata":"https://www.wikidata.org/wiki/Q6517888","display_name":"Legendre wavelet","level":5,"score":0.4997270107269287},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4729832410812378},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44216999411582947},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4384388327598572},{"id":"https://openalex.org/C132736078","wikidata":"https://www.wikidata.org/wiki/Q338438","display_name":"Fast wavelet transform","level":5,"score":0.43581077456474304},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42024219036102295},{"id":"https://openalex.org/C46286280","wikidata":"https://www.wikidata.org/wiki/Q2414958","display_name":"Discrete wavelet transform","level":4,"score":0.35364553332328796},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24693888425827026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16884368658065796},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0841650664806366},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926537","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.5099999904632568,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W1988336897"],"abstract_inverted_index":{"The":[0,23,59,76,116,128],"paper":[1],"proposes":[2],"a":[3,104,135],"bio-inspired":[4],"approach":[5,80],"to":[6,15,50,111],"the":[7,20,40,45,54,72,79,84,113,119],"obstacle":[8],"avoidance":[9],"problem":[10],"using":[11,32,68,142],"analytic":[12,73],"wavelet":[13,74],"transform":[14],"extract":[16],"perception":[17],"cues":[18],"for":[19,65],"reactive":[21],"control.":[22],"small":[24,95],"and":[25,52,132,138],"large":[26],"scale":[27],"environment":[28,55],"features":[29,56],"are":[30,36],"perceived":[31],"laser":[33],"scans.":[34],"Wavelets":[35],"then":[37],"used":[38,110],"as":[39,71,134],"bases":[41],"of":[42,44,57,78,86,118],"projection":[43],"spatial":[46],"signals,":[47],"in":[48,93],"order":[49],"decompose":[51],"observe":[53],"interest.":[58],"wavelet-based":[60],"element":[61],"analysis":[62],"is":[63,81,108,121,130,139],"leveraged":[64],"this":[66],"purpose,":[67],"Morse":[69],"wavelets":[70],"bases.":[75],"inspiration":[77],"derived":[82],"from":[83],"principle":[85],"sensorimotor":[87],"convergence":[88],"that":[89],"has":[90],"been":[91],"studied":[92],"many":[94],"living":[96],"organisms.":[97],"A":[98],"steering":[99],"potential":[100],"function,":[101],"based":[102],"on":[103],"human":[105],"walking":[106],"model,":[107],"finally":[109],"close":[112],"control":[114],"loop.":[115],"safety":[117],"method":[120],"analyzed":[122],"by":[123],"computing":[124],"appropriate":[125],"barrier":[126],"certificates.":[127],"algorithm":[129],"programmed":[131],"released":[133],"ROS/C++":[136],"package":[137],"thoroughly":[140],"tested":[141],"physical":[143],"hardware":[144],"experiments.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
