{"id":"https://openalex.org/W2088096789","doi":"https://doi.org/10.1109/ecmr.2013.6698862","title":"Safe Gap based (SG) reactive navigation for mobile robots","display_name":"Safe Gap based (SG) reactive navigation for mobile robots","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2088096789","doi":"https://doi.org/10.1109/ecmr.2013.6698862","mag":"2088096789"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2013.6698862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","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/A5007153559","display_name":"Muhannad Mujahed","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Muhannad Mujahed","raw_affiliation_strings":["Dept. of Electrical Engineering and Information Technology, GET-Lab, University of Paderborn, Paderborn, Germany","Dept. of Electr. Eng. & Inf. Technol., Univ. of Paderborn, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Information Technology, GET-Lab, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Inf. Technol., Univ. of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085673348","display_name":"Dirk Fischer","orcid":"https://orcid.org/0000-0002-0792-6370"},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Fischer","raw_affiliation_strings":["Dept. of Electrical Engineering and Information Technology, GET-Lab, University of Paderborn, Paderborn, Germany","Dept. of Electr. Eng. & Inf. Technol., Univ. of Paderborn, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Information Technology, GET-Lab, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Inf. Technol., Univ. of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071134167","display_name":"B\u00e4rbel Mertsching","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Barbel Mertsching","raw_affiliation_strings":["Dept. of Electrical Engineering and Information Technology, GET-Lab, University of Paderborn, Paderborn, Germany","Dept. of Electr. Eng. & Inf. Technol., Univ. of Paderborn, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Information Technology, GET-Lab, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Inf. Technol., Univ. of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007153559"],"corresponding_institution_ids":["https://openalex.org/I206945453"],"apc_list":null,"apc_paid":null,"fwci":1.0886,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.81321257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"325","last_page":"330"},"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":0.993399977684021,"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":0.9897000193595886,"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":0.8517775535583496},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7960860133171082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7735190987586975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6946719288825989},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.6499759554862976},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6185682415962219},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.56095290184021},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5211408138275146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4855208396911621},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4446655809879303},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41284891963005066},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34235721826553345},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32457149028778076}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8517775535583496},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7960860133171082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7735190987586975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6946719288825989},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.6499759554862976},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6185682415962219},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.56095290184021},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5211408138275146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4855208396911621},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4446655809879303},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41284891963005066},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34235721826553345},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32457149028778076},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2013.6698862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2013.6698862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Conference on Mobile Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1536921620","https://openalex.org/W1971086298","https://openalex.org/W1971648593","https://openalex.org/W1981127836","https://openalex.org/W1996183429","https://openalex.org/W2002440441","https://openalex.org/W2010810606","https://openalex.org/W2060416901","https://openalex.org/W2066955564","https://openalex.org/W2103120971","https://openalex.org/W2103639171","https://openalex.org/W2113256452","https://openalex.org/W2113286054","https://openalex.org/W2117211893","https://openalex.org/W2121204166","https://openalex.org/W2125409550","https://openalex.org/W2131201219","https://openalex.org/W2165852544","https://openalex.org/W2166052572","https://openalex.org/W2170740604","https://openalex.org/W2171331791","https://openalex.org/W4242811155","https://openalex.org/W6631915847"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2122735287","https://openalex.org/W2493438666","https://openalex.org/W2124341319","https://openalex.org/W2239658598","https://openalex.org/W2103853241","https://openalex.org/W2080635515","https://openalex.org/W2778431074"],"abstract_inverted_index":{"In":[0],"this":[1,79],"paper":[2],"a":[3,73],"new":[4],"real-time":[5],"collision":[6],"avoidance":[7],"approach":[8,80],"for":[9],"mobile":[10],"robots":[11],"moving":[12],"in":[13,35,55],"dense":[14],"and":[15,43,64,91],"cluttered":[16],"environments":[17],"is":[18,22,48,87],"presented.":[19],"Our":[20],"method":[21,86],"to":[23,40],"adapt":[24],"the":[25,57,62,70,84],"Closest":[26],"Gap":[27],"(CG)":[28],"Navigation":[29],"technique,":[30],"which":[31,68],"we":[32],"have":[33],"proposed":[34],"an":[36,52],"earlier":[37],"work":[38],"[1],":[39],"generate":[41],"safer":[42],"smoother":[44],"robot":[45,71],"trajectories.":[46],"This":[47],"achieved":[49],"by":[50],"introducing":[51],"additional":[53],"step":[54],"analyzing":[56],"structure":[58],"of":[59,78],"obstacles":[60],"surrounding":[61],"robot,":[63],"generating":[65],"instantaneous":[66],"subgoals":[67],"drive":[69],"towards":[72],"collision-free":[74],"area.":[75],"The":[76],"performance":[77],"as":[81],"compared":[82],"with":[83,89],"CG":[85],"demonstrated":[88],"simulation":[90],"experimental":[92],"results.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
