{"id":"https://openalex.org/W2116301587","doi":"https://doi.org/10.1109/efta.2007.4416888","title":"Real-time architecture for mobile assistant robots","display_name":"Real-time architecture for mobile assistant robots","publication_year":2007,"publication_date":"2007-09-01","ids":{"openalex":"https://openalex.org/W2116301587","doi":"https://doi.org/10.1109/efta.2007.4416888","mag":"2116301587"},"language":"en","primary_location":{"id":"doi:10.1109/efta.2007.4416888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/efta.2007.4416888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007)","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/A5101891374","display_name":"Pedro Sousa","orcid":"https://orcid.org/0000-0002-1425-156X"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Pedro Sousa","raw_affiliation_strings":["ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","University of Coimbra, Coimbra,"],"affiliations":[{"raw_affiliation_string":"ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"University of Coimbra, Coimbra,","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023127369","display_name":"Rui Ara\u00fajo","orcid":"https://orcid.org/0000-0002-1007-8675"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rui Araujo","raw_affiliation_strings":["ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","University of Coimbra, Coimbra,"],"affiliations":[{"raw_affiliation_string":"ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"University of Coimbra, Coimbra,","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011728288","display_name":"Urbano Nunes","orcid":"https://orcid.org/0000-0002-7750-5221"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Urbano Nunes","raw_affiliation_strings":["ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","University of Coimbra, Coimbra,"],"affiliations":[{"raw_affiliation_string":"ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"University of Coimbra, Coimbra,","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006783099","display_name":"L.M. Alves","orcid":"https://orcid.org/0000-0002-7170-0333"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luis Alves","raw_affiliation_strings":["ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","University of Coimbra, Coimbra,"],"affiliations":[{"raw_affiliation_string":"ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"University of Coimbra, Coimbra,","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029334817","display_name":"Ana Lopes","orcid":"https://orcid.org/0000-0001-6695-477X"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]},{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ana C. Lopes","raw_affiliation_strings":["ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","University of Coimbra, Coimbra,"],"affiliations":[{"raw_affiliation_string":"ISR-Instituto de Sistemas e Rob\u00f3tica, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"University of Coimbra, Coimbra,","institution_ids":["https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101891374"],"corresponding_institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"],"apc_list":null,"apc_paid":null,"fwci":0.3288,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.63886523,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":null,"first_page":"965","last_page":"972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/mobile-robot","display_name":"Mobile robot","score":0.7637907266616821},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.687169075012207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6595479846000671},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6449961066246033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5889103412628174},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5884979367256165},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4616170823574066},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4554578363895416},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36484694480895996},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35344651341438293},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3271728754043579}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7637907266616821},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.687169075012207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6595479846000671},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6449961066246033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5889103412628174},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5884979367256165},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4616170823574066},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4554578363895416},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36484694480895996},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35344651341438293},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3271728754043579},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/efta.2007.4416888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/efta.2007.4416888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.709.3144","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.709.3144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://home.isr.uc.pt/%7Erui/publications/etfa2007_web.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W203809554","https://openalex.org/W1491357279","https://openalex.org/W1505610094","https://openalex.org/W1800478330","https://openalex.org/W1994348732","https://openalex.org/W2013658284","https://openalex.org/W2026089793","https://openalex.org/W2056562757","https://openalex.org/W2065945813","https://openalex.org/W2077318760","https://openalex.org/W2089817006","https://openalex.org/W2097856935","https://openalex.org/W2108126009","https://openalex.org/W2117892041","https://openalex.org/W2127201702","https://openalex.org/W2134794304","https://openalex.org/W2146545231","https://openalex.org/W2154332114","https://openalex.org/W2700721176","https://openalex.org/W2887227642","https://openalex.org/W4252559437","https://openalex.org/W4298410530","https://openalex.org/W6753718618"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W4254970379","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Mobile":[0],"robotics":[1],"is":[2,52,117],"a":[3,44,77,84,106],"challenging":[4],"research":[5],"area,":[6],"with":[7],"produced":[8],"results":[9],"that":[10],"were":[11],"unthinkable":[12],"several":[13],"years":[14],"ago.":[15],"There":[16],"exist":[17],"algorithms":[18],"and":[19,32,62,69,92],"methods":[20],"capable":[21],"of":[22,43,98,100],"performing":[23],"difficult":[24],"tasks":[25],"such":[26,57],"as":[27,58],"detect/classify":[28],"objects,":[29],"skill":[30],"learning":[31,109],"SLAM.":[33],"From":[34],"the":[35,39,75,101],"initial":[36],"design":[37],"steps,":[38],"real-time":[40,85],"software":[41],"architecture":[42,87],"robotic":[45],"platform":[46],"requires":[47],"great":[48],"attention.":[49],"The":[50],"problem":[51],"difficult,":[53],"because":[54],"various":[55],"components,":[56],"sensing,":[59],"perception,":[60],"localization,":[61],"motor":[63],"control,":[64],"are":[65],"required":[66],"to":[67,110],"operate":[68],"interact":[70],"in":[71],"real-time.":[72],"This":[73,81],"makes":[74],"system":[76,107],"very":[78],"complex":[79],"one.":[80],"paper":[82],"presents":[83],"control":[86,102],"designed":[88],"for":[89,108],"mobile":[90],"robots":[91],"intelligent":[93],"vehicles.":[94],"Moreover,":[95],"an":[96],"example":[97],"application":[99],"structure":[103],"consisting":[104],"on":[105],"classify":[111],"places,":[112],"using":[113],"laser":[114],"range":[115],"data,":[116],"reported.":[118]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}