{"id":"https://openalex.org/W2165079698","doi":"https://doi.org/10.1109/iros.2004.1389825","title":"An architecture for sensor-based navigation in realistic dynamic and troublesome scenarios","display_name":"An architecture for sensor-based navigation in realistic dynamic and troublesome scenarios","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2165079698","doi":"https://doi.org/10.1109/iros.2004.1389825","mag":"2165079698"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389825","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389825","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5003524836","display_name":"Javier M\u00ednguez","orcid":"https://orcid.org/0000-0002-2957-0133"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Minguez","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenieria de Arag\u00f3n Department Inform\u00e1tica e Ingenieria de Sistemas, Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenieria de Arag\u00f3n Department Inform\u00e1tica e Ingenieria de Sistemas, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060302183","display_name":"Luis Montesano","orcid":"https://orcid.org/0000-0003-1183-349X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"L. Montesano","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenieria de Arag\u00f3n Department Inform\u00e1tica e Ingenieria de Sistemas, Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenieria de Arag\u00f3n Department Inform\u00e1tica e Ingenieria de Sistemas, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113286835","display_name":"Luis Montano","orcid":"https://orcid.org/0000-0002-0449-2300"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"L. Montano","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenieria de Arag\u00f3n Department Inform\u00e1tica e Ingenieria de Sistemas, Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenieria de Arag\u00f3n Department Inform\u00e1tica e Ingenieria de Sistemas, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2750","last_page":"2756"},"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":0.9983999729156494,"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":0.98580002784729,"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/computer-science","display_name":"Computer science","score":0.7311826944351196},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6796975135803223},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42881423234939575},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3557547926902771},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3418172001838684}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7311826944351196},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6796975135803223},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42881423234939575},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3557547926902771},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3418172001838684},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2004.1389825","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389825","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.58.9797","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.58.9797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://webdiis.unizar.es/~jminguez/Iros2004.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1489258026","https://openalex.org/W1490482062","https://openalex.org/W1513220402","https://openalex.org/W1538363708","https://openalex.org/W1807258779","https://openalex.org/W1836948486","https://openalex.org/W1988258498","https://openalex.org/W2010810606","https://openalex.org/W2098960740","https://openalex.org/W2101889862","https://openalex.org/W2103120971","https://openalex.org/W2112050133","https://openalex.org/W2112278911","https://openalex.org/W2114476723","https://openalex.org/W2116360390","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2131505299","https://openalex.org/W2132615661","https://openalex.org/W2136688492","https://openalex.org/W2145089737","https://openalex.org/W2152536965","https://openalex.org/W2158057652","https://openalex.org/W2165852544","https://openalex.org/W2171331791","https://openalex.org/W2250180543","https://openalex.org/W2297172695","https://openalex.org/W6639051064","https://openalex.org/W6647531349"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655"],"abstract_inverted_index":{"We":[0],"address":[1],"here":[2],"a":[3,36,60,87,91],"sensor-based":[4],"navigation":[5,64],"system":[6,15,56],"to":[7,46,58,79],"safely":[8],"drive":[9],"vehicles":[10],"in":[11,44,65,95],"realistic":[12],"scenarios.":[13],"The":[14,52],"is":[16,57],"composed":[17],"of":[18,54,73],"three":[19],"modules":[20,32],"with":[21,86],"the":[22,49,74,81],"following":[23],"functionalities:":[24],"model":[25],"builder,":[26],"planning":[27],"and":[28,41,62],"reactive":[29],"motion.":[30],"These":[31],"are":[33],"integrated":[34],"within":[35],"planner-reactor":[37],"architecture":[38],"that":[39],"supervises":[40],"coordinates":[42],"them":[43],"order":[45,78],"carry":[47],"out":[48],"motion":[50],"task.":[51],"advantage":[53],"our":[55],"achieve":[59],"robust":[61],"trustworthy":[63],"difficult":[66],"scenarios,":[67],"which":[68],"remain":[69],"troublesome":[70],"for":[71],"many":[72],"existing":[75],"systems.":[76],"In":[77],"validate":[80],"system,":[82],"we":[83],"present":[84],"experiments":[85],"wheelchair":[88],"vehicle":[89],"transporting":[90],"human":[92],"among":[93],"locations":[94],"an":[96],"office":[97],"type":[98],"scenario.":[99]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}