{"id":"https://openalex.org/W2901095843","doi":"https://doi.org/10.1109/iisr.2018.8535783","title":"The Pc metric: A safety performance measure for evaluation of collision avoidance algorithms","display_name":"The Pc metric: A safety performance measure for evaluation of collision avoidance algorithms","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2901095843","doi":"https://doi.org/10.1109/iisr.2018.8535783","mag":"2901095843"},"language":"en","primary_location":{"id":"doi:10.1109/iisr.2018.8535783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","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/A5024933483","display_name":"Yazhini C. Pradeep","orcid":"https://orcid.org/0000-0001-6645-6674"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yazhini C. Pradeep","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kendrick Amezquita-Semprun","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kendrick Amezquita-Semprun","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074380308","display_name":"Manuel Del Rosario","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Manuel Del Rosario","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016925354","display_name":"Yu\u00e1n-Ru\u00ec Y\u00e1ng","orcid":"https://orcid.org/0000-0002-1406-3200"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuan-Rui Yang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017988774","display_name":"Peter C. Y. Chen","orcid":"https://orcid.org/0000-0003-4851-9875"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Peter C.Y. Chen","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.106,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47726098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"313","last_page":"318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.8623597025871277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.724018931388855},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7055144309997559},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5792725682258606},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5641230940818787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5500775575637817},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5350357890129089},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5343707203865051},{"id":"https://openalex.org/keywords/performance-metric","display_name":"Performance metric","score":0.4616590440273285},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44971877336502075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4317152202129364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4127592444419861},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3784467577934265},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3110707402229309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13044607639312744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10209938883781433},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09681564569473267}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.8623597025871277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.724018931388855},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7055144309997559},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5792725682258606},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5641230940818787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5500775575637817},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5350357890129089},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5343707203865051},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.4616590440273285},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44971877336502075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4317152202129364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4127592444419861},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3784467577934265},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3110707402229309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13044607639312744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10209938883781433},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09681564569473267},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iisr.2018.8535783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1781959951","https://openalex.org/W1977932666","https://openalex.org/W2002440441","https://openalex.org/W2023608389","https://openalex.org/W2055936398","https://openalex.org/W2064480843","https://openalex.org/W2097639646","https://openalex.org/W2116370533","https://openalex.org/W2117211893","https://openalex.org/W2123665586","https://openalex.org/W2522826243","https://openalex.org/W2576793226","https://openalex.org/W3020882730","https://openalex.org/W3158724210"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W2743212448","https://openalex.org/W4310743282","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"Several":[0],"techniques":[1],"have":[2],"been":[3],"proposed":[4,42,95],"for":[5,25],"navigation":[6,57],"and":[7,46,58,72,86,90,133],"collision":[8,59,71],"avoidance":[9],"algorithms":[10,28],"in":[11,52,130],"the":[12,18,48,66,91,94,109,112,125,128,135,139],"field":[13],"of":[14,50,54,68,70,93,111,127,138],"mobile":[15],"robotics.":[16],"But":[17],"research":[19],"on":[20,65],"establishing":[21],"standardized":[22],"performance":[23,39,49,137],"measures":[24],"evaluating":[26,132],"such":[27],"are":[29,80,97],"gaining":[30],"attention":[31],"very":[32],"recently.":[33],"In":[34],"this":[35],"work,":[36],"a":[37,117],"novel":[38],"metric":[40,62,96,101,113,129],"is":[41,63,73,102,114],"to":[43,75,82,143],"comprehensively":[44],"measure":[45],"evaluate":[47],"robots":[51],"terms":[53],"safety,":[55],"during":[56],"avoidance.":[60],"The":[61,88,100,122],"based":[64],"concept":[67],"probability":[69],"applicable":[74],"environments":[76],"involving":[77],"humans":[78],"which":[79],"considered":[81],"be":[83],"highly":[84],"dynamic":[85],"uncertain.":[87],"definition":[89],"estimation":[92],"elaborated":[98],"initially.":[99],"then":[103],"validated":[104],"through":[105],"an":[106],"experiment.":[107],"Finally,":[108],"application":[110],"demonstrated":[115],"using":[116],"virtual":[118],"human":[119],"environment":[120],"simulation.":[121],"results":[123],"show":[124],"effectiveness":[126],"quantitatively":[131],"comparing":[134],"safety":[136],"robot":[140],"with":[141],"respect":[142],"humans.":[144]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
