{"id":"https://openalex.org/W4304142006","doi":"https://doi.org/10.1109/icac55051.2022.9911084","title":"A Novel Control Architecture for Mobile Robots in Safety-Critical Applications","display_name":"A Novel Control Architecture for Mobile Robots in Safety-Critical Applications","publication_year":2022,"publication_date":"2022-09-01","ids":{"openalex":"https://openalex.org/W4304142006","doi":"https://doi.org/10.1109/icac55051.2022.9911084"},"language":"en","primary_location":{"id":"doi:10.1109/icac55051.2022.9911084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icac55051.2022.9911084","pdf_url":null,"source":{"id":"https://openalex.org/S4363608428","display_name":"2022 27th International Conference on Automation and Computing (ICAC)","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 27th International Conference on Automation and Computing (ICAC)","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/A5083826135","display_name":"Manuel Schrick","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Manuel Schrick","raw_affiliation_strings":["Institute for Technical Logistics, Hamburg University of Technology,Hamburg,Germany","Institute for Technical Logistics, Hamburg University of Technology, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Technical Logistics, Hamburg University of Technology,Hamburg,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Institute for Technical Logistics, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032107440","display_name":"Johannes Hinckeldeyn","orcid":"https://orcid.org/0000-0001-9823-7679"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Hinckeldeyn","raw_affiliation_strings":["Institute for Technical Logistics, Hamburg University of Technology,Hamburg,Germany","Institute for Technical Logistics, Hamburg University of Technology, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Technical Logistics, Hamburg University of Technology,Hamburg,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Institute for Technical Logistics, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009164900","display_name":"Marko Thiel","orcid":"https://orcid.org/0000-0002-7249-1203"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marko Thiel","raw_affiliation_strings":["Institute for Technical Logistics, Hamburg University of Technology,Hamburg,Germany","Institute for Technical Logistics, Hamburg University of Technology, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Technical Logistics, Hamburg University of Technology,Hamburg,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Institute for Technical Logistics, Hamburg University of Technology, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083826135"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"],"apc_list":null,"apc_paid":null,"fwci":0.7827,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65742251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.9958000183105469,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/computer-science","display_name":"Computer science","score":0.7127156853675842},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6117779612541199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5468149781227112},{"id":"https://openalex.org/keywords/reusability","display_name":"Reusability","score":0.45767685770988464},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.4530295431613922},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4106992781162262},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.36564159393310547},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3653751015663147},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.33863312005996704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21532481908798218},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15995296835899353}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7127156853675842},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6117779612541199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5468149781227112},{"id":"https://openalex.org/C137981799","wikidata":"https://www.wikidata.org/wiki/Q1369184","display_name":"Reusability","level":3,"score":0.45767685770988464},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.4530295431613922},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4106992781162262},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.36564159393310547},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3653751015663147},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.33863312005996704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21532481908798218},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15995296835899353},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icac55051.2022.9911084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icac55051.2022.9911084","pdf_url":null,"source":{"id":"https://openalex.org/S4363608428","display_name":"2022 27th International Conference on Automation and Computing (ICAC)","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 27th International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},{"id":"pmh:oai:tore.tuhh.de:11420/14081","is_oa":false,"landing_page_url":"http://hdl.handle.net/11420/14081","pdf_url":null,"source":{"id":"https://openalex.org/S4306401751","display_name":"tub.dok (Hamburg University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I884043246","host_organization_name":"Hamburg University of Technology","host_organization_lineage":["https://openalex.org/I884043246"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2002753905","https://openalex.org/W2037792107","https://openalex.org/W2099529102","https://openalex.org/W2225560779","https://openalex.org/W2410933284","https://openalex.org/W2562545901","https://openalex.org/W2753034999","https://openalex.org/W2890593621","https://openalex.org/W2891670750","https://openalex.org/W2893691442","https://openalex.org/W3003596479","https://openalex.org/W3004409244","https://openalex.org/W3135093352","https://openalex.org/W3148967004","https://openalex.org/W3174411578","https://openalex.org/W3206771627","https://openalex.org/W6744292694","https://openalex.org/W6755445721","https://openalex.org/W6906148933","https://openalex.org/W6924940730"],"related_works":["https://openalex.org/W4282938614","https://openalex.org/W2906929912","https://openalex.org/W2099755394","https://openalex.org/W2350686889","https://openalex.org/W1965839502","https://openalex.org/W2114764029","https://openalex.org/W2621742671","https://openalex.org/W4285132742","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Mobile":[0],"robots":[1,66],"have":[2],"become":[3],"more":[4,6,38],"and":[5,42,86],"common":[7],"in":[8,32,129],"public":[9],"space.":[10],"This":[11,53],"increases":[12],"the":[13,49,56,81,108,123,130],"importance":[14],"of":[15,19,48,58,94,110,114,125,132],"meeting":[16],"safety":[17,95],"requirements":[18],"autonomous":[20],"robots.":[21],"Simple":[22],"mechanisms,":[23],"such":[24,97],"as":[25,46,98],"emergency":[26],"breaking,":[27],"alone":[28],"do":[29],"not":[30],"suffice":[31],"these":[33],"highly":[34],"dynamic":[35],"situations.":[36],"A":[37],"sophisticated":[39],"situational":[40],"assessment":[41],"planning":[43],"is":[44,119,120],"needed":[45],"part":[47],"high-level":[50],"process":[51],"control.":[52],"paper":[54],"presents":[55,107],"concept":[57,106],"a":[59,69,111,126,133],"safety-critical":[60],"Robot":[61],"Control":[62],"Architecture":[63],"for":[64,91],"mobile":[65],"based":[67],"on":[68,83],"Hierarchical":[70],"Finite":[71],"State":[72],"Machine.":[73],"It":[74,118],"expands":[75],"already":[76],"existing":[77],"architectures":[78],"by":[79],"putting":[80],"focus":[82],"concurrency,":[84],"interruptibility":[85],"code":[87],"reusability":[88],"to":[89],"allow":[90],"straightforward":[92],"implementation":[93],"mechanisms":[96],"internal":[99],"diagnostics":[100],"systems.":[101],"In":[102],"doing":[103],"so,":[104],"this":[105],"template":[109],"new":[112],"type":[113],"state":[115],"machine":[116],"implementation.":[117],"demonstrated":[121],"with":[122],"application":[124],"delivery":[127],"robot":[128],"scope":[131],"German":[134],"research":[135],"project.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}