{"id":"https://openalex.org/W2150346471","doi":"https://doi.org/10.1109/cira.2003.1222137","title":"Path evaluation for a mobile robot based on a risk of collision","display_name":"Path evaluation for a mobile robot based on a risk of collision","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2150346471","doi":"https://doi.org/10.1109/cira.2003.1222137","mag":"2150346471"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2003.1222137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","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/A5110458346","display_name":"Mari Irie","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"M. Irie","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Ohyama University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Ohyama University, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050838590","display_name":"Keiji Nagatani","orcid":"https://orcid.org/0000-0003-2147-2712"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Nagatani","raw_affiliation_strings":["Graduate School of Natural Science and Technology, Ohyama University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Natural Science and Technology, Ohyama University, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018415095","display_name":"Akio Gofuku","orcid":"https://orcid.org/0000-0001-8912-9801"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Gofuku","raw_affiliation_strings":["System Engineering Department, Okayama University, Japan"],"affiliations":[{"raw_affiliation_string":"System Engineering Department, Okayama University, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110458346"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2733,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62378319,"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":"485","last_page":"490"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.706936240196228},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.679783284664154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.647574245929718},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5971692800521851},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5610588788986206},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5185211896896362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.506424069404602},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4896607995033264},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4724985361099243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4063766896724701},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35950422286987305},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3412199020385742},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3402327299118042},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2330300211906433},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09881731867790222},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09312871098518372}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.706936240196228},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.679783284664154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.647574245929718},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5971692800521851},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5610588788986206},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5185211896896362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.506424069404602},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4896607995033264},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4724985361099243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4063766896724701},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35950422286987305},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3412199020385742},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3402327299118042},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2330300211906433},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09881731867790222},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09312871098518372}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cira.2003.1222137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2003.1222137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1610930163","https://openalex.org/W1624365869","https://openalex.org/W2123794461","https://openalex.org/W2138500663","https://openalex.org/W2143635996","https://openalex.org/W2150194464","https://openalex.org/W2324345466"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W4381746183","https://openalex.org/W4200210047","https://openalex.org/W2980469219","https://openalex.org/W2157678966","https://openalex.org/W2170236440","https://openalex.org/W2906256179","https://openalex.org/W1630245314","https://openalex.org/W2618110887"],"abstract_inverted_index":{"An":[0],"odometry":[1,83],"system":[2],"that":[3],"mobile":[4,36,116],"robot":[5,37,90],"uses":[6],"for":[7,34,111],"positioning":[8,78],"has":[9],"cumulative":[10],"error":[11,79],"because":[12],"of":[13,23,25,42,57,60,69,99,114,125,132],"wheels'":[14],"slippage":[15],"and":[16],"uneven":[17],"ground.":[18],"It":[19],"causes":[20],"a":[21,30,35,40,46,58,93,97,130],"risk":[22,41,59,68,98],"collision":[24,61,70],"obstacles.":[26],"Therefore,":[27],"we":[28,49,74],"propose":[29],"path":[31,94,126],"evaluation":[32,52,87,127],"method":[33],"based":[38,95,118],"on":[39,96,119],"collision.":[43],"To":[44,65],"evaluate":[45,66],"robot's":[47],"path,":[48],"define":[50],"an":[51,55,76],"value":[53],"as":[54],"integral":[56],"along":[62],"the":[63,67,82,86,89,102,115,120,133],"path.":[64,104],"at":[71],"each":[72],"point,":[73],"use":[75],"estimated":[77],"generated":[80],"in":[81],"system.":[84],"Using":[85],"method,":[88],"can":[91],"plan":[92],"collision,":[100],"not":[101],"shortest":[103],"We":[105],"also":[106],"consider":[107],"sensing":[108],"points":[109],"planning":[110],"position":[112],"adjustment":[113],"robot,":[117],"same":[121],"approach.":[122],"Some":[123],"examples":[124],"results":[128],"support":[129],"validity":[131],"proposed":[134],"method.":[135]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}