{"id":"https://openalex.org/W2066846039","doi":"https://doi.org/10.1109/conielecomp.2015.7086939","title":"Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow","display_name":"Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow","publication_year":2015,"publication_date":"2015-02-01","ids":{"openalex":"https://openalex.org/W2066846039","doi":"https://doi.org/10.1109/conielecomp.2015.7086939","mag":"2066846039"},"language":"en","primary_location":{"id":"doi:10.1109/conielecomp.2015.7086939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/conielecomp.2015.7086939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Electronics, Communications and Computers (CONIELECOMP)","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/A5072594340","display_name":"\u00c1ngel J. S\u00e1nchez-Garc\u00eda","orcid":"https://orcid.org/0000-0002-2917-2960"},"institutions":[{"id":"https://openalex.org/I147280213","display_name":"Universidad Veracruzana","ror":"https://ror.org/03efxn362","country_code":"MX","type":"education","lineage":["https://openalex.org/I147280213"]},{"id":"https://openalex.org/I3129323158","display_name":"Universidad de Xalapa","ror":"https://ror.org/02aneaq95","country_code":"MX","type":"education","lineage":["https://openalex.org/I3129323158"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Angel Juan Sanchez-Garcia","raw_affiliation_strings":["Department of Artificial Intelligence, University of Veracruz","Department of Artificial Intelligence, University of Veracruz, Xalapa, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, University of Veracruz","institution_ids":["https://openalex.org/I147280213"]},{"raw_affiliation_string":"Department of Artificial Intelligence, University of Veracruz, Xalapa, Mexico","institution_ids":["https://openalex.org/I3129323158","https://openalex.org/I147280213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085639833","display_name":"Homero Vladimir R\u00edos-Figueroa","orcid":"https://orcid.org/0000-0001-8673-8863"},"institutions":[{"id":"https://openalex.org/I147280213","display_name":"Universidad Veracruzana","ror":"https://ror.org/03efxn362","country_code":"MX","type":"education","lineage":["https://openalex.org/I147280213"]},{"id":"https://openalex.org/I3129323158","display_name":"Universidad de Xalapa","ror":"https://ror.org/02aneaq95","country_code":"MX","type":"education","lineage":["https://openalex.org/I3129323158"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Homero Vladimir Rios-Figueroa","raw_affiliation_strings":["Department of Artificial Intelligence, University of Veracruz","Department of Artificial Intelligence, University of Veracruz, Xalapa, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, University of Veracruz","institution_ids":["https://openalex.org/I147280213"]},{"raw_affiliation_string":"Department of Artificial Intelligence, University of Veracruz, Xalapa, Mexico","institution_ids":["https://openalex.org/I3129323158","https://openalex.org/I147280213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084767534","display_name":"Antonio Mar\u0131\u0301n-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-7697-9118"},"institutions":[{"id":"https://openalex.org/I3129323158","display_name":"Universidad de Xalapa","ror":"https://ror.org/02aneaq95","country_code":"MX","type":"education","lineage":["https://openalex.org/I3129323158"]},{"id":"https://openalex.org/I147280213","display_name":"Universidad Veracruzana","ror":"https://ror.org/03efxn362","country_code":"MX","type":"education","lineage":["https://openalex.org/I147280213"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Antonio Marin-Hernandez","raw_affiliation_strings":["Department of Artificial Intelligence, University of Veracruz","Department of Artificial Intelligence, University of Veracruz, Xalapa, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, University of Veracruz","institution_ids":["https://openalex.org/I147280213"]},{"raw_affiliation_string":"Department of Artificial Intelligence, University of Veracruz, Xalapa, Mexico","institution_ids":["https://openalex.org/I3129323158","https://openalex.org/I147280213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066908248","display_name":"Gerardo Contreras-Vega","orcid":null},"institutions":[{"id":"https://openalex.org/I3129323158","display_name":"Universidad de Xalapa","ror":"https://ror.org/02aneaq95","country_code":"MX","type":"education","lineage":["https://openalex.org/I3129323158"]},{"id":"https://openalex.org/I147280213","display_name":"Universidad Veracruzana","ror":"https://ror.org/03efxn362","country_code":"MX","type":"education","lineage":["https://openalex.org/I147280213"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Gerardo Contreras-Vega","raw_affiliation_strings":["School of Statistics and Informatics, University of Veracruz, Xalapa, Veracruz, Mexico","School of Statistics and Informatics, University of Veracruz, Xalapa, Mexico"],"affiliations":[{"raw_affiliation_string":"School of Statistics and Informatics, University of Veracruz, Xalapa, Veracruz, Mexico","institution_ids":["https://openalex.org/I147280213"]},{"raw_affiliation_string":"School of Statistics and Informatics, University of Veracruz, Xalapa, Mexico","institution_ids":["https://openalex.org/I3129323158","https://openalex.org/I147280213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072594340"],"corresponding_institution_ids":["https://openalex.org/I147280213","https://openalex.org/I3129323158"],"apc_list":null,"apc_paid":null,"fwci":0.7364,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.78898529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"290","issue":null,"first_page":"130","last_page":"134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/T12321","display_name":"Insect Pheromone Research and Control","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9890000224113464,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8079012036323547},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.7695786952972412},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7445839643478394},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7290829420089722},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7216464877128601},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7106221914291382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6608182191848755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6588362455368042},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6048332452774048},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5105007886886597},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4835624396800995},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.44109785556793213},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4343101680278778},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.4118781089782715},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3588430881500244},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3508780598640442},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20400038361549377},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10211208462715149},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08170837163925171},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.06700858473777771}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8079012036323547},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.7695786952972412},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7445839643478394},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7290829420089722},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7216464877128601},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7106221914291382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6608182191848755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6588362455368042},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6048332452774048},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5105007886886597},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4835624396800995},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.44109785556793213},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4343101680278778},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.4118781089782715},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3588430881500244},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3508780598640442},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20400038361549377},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10211208462715149},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08170837163925171},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.06700858473777771},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/conielecomp.2015.7086939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/conielecomp.2015.7086939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Electronics, Communications and Computers (CONIELECOMP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1578285471","https://openalex.org/W1972682362","https://openalex.org/W1986029121","https://openalex.org/W2000364018","https://openalex.org/W2007885428","https://openalex.org/W2011866517","https://openalex.org/W2050610961","https://openalex.org/W2102729501","https://openalex.org/W2102930991","https://openalex.org/W2111412385","https://openalex.org/W2129557605","https://openalex.org/W2146115080","https://openalex.org/W2149285402","https://openalex.org/W2160535265","https://openalex.org/W2165311980","https://openalex.org/W2542496137","https://openalex.org/W2545828032","https://openalex.org/W2727592676","https://openalex.org/W2751023760","https://openalex.org/W4233970604","https://openalex.org/W4298437075","https://openalex.org/W6652500641","https://openalex.org/W6653372819","https://openalex.org/W6681947041"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W1931898074","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696"],"abstract_inverted_index":{"Vision":[0],"is":[1,21,105,110],"a":[2,13,91,136],"vital":[3],"cue":[4],"for":[5,16,23,45,93],"human":[6],"navigation,":[7],"and":[8,28,33,68,77,117],"it":[9,104,119],"has":[10],"become":[11],"in":[12,35,48,86,142],"powerful":[14],"tool":[15],"robot":[17,47,109,138],"navigation.":[18],"Computer":[19],"vision":[20],"useful":[22],"recognition":[24],"of":[25,43,65],"positional":[26],"relationship":[27],"relative":[29],"motion":[30],"between":[31],"themselves":[32],"objects":[34],"the":[36,41,56,99,108,121],"environment.":[37,50],"So,":[38,85],"we":[39,54,89],"address":[40],"problem":[42,57],"navigation":[44,83],"mobile":[46],"indoor":[49],"To":[51],"this":[52,87],"task,":[53],"tackle":[55],"using":[58,135],"monocular":[59],"vision,":[60],"i.e.,":[61],"without":[62,96],"other":[63],"kind":[64],"sensors.":[66],"Insects":[67],"some":[69],"animals":[70],"use":[71],"tools":[72],"as":[73],"optical":[74,100],"flow":[75,101,122],"estimations":[76],"time":[78],"to":[79,81,112,125],"contact,":[80],"their":[82],"[1].":[84],"paper,":[88],"propose":[90],"method":[92],"obstacle":[94],"avoidance,":[95],"constantly":[97],"calculating":[98],"field,":[102],"only":[103],"calculated":[106],"when":[107],"close":[111],"colliding":[113],"with":[114],"an":[115],"obstacle,":[116],"so,":[118],"uses":[120],"field":[123],"divergence":[124],"decide":[126],"which":[127],"direction":[128],"will":[129],"should":[130],"be":[131],"taken.":[132],"Physical":[133],"experiments":[134],"real":[137],"have":[139],"been":[140],"conducted":[141],"unknown":[143],"environments.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}