{"id":"https://openalex.org/W2124959323","doi":"https://doi.org/10.1109/iros.2004.1389863","title":"Integrated motion planning for indoor mobile robots using motor schema and adaptive fuzzy behavioral modulation","display_name":"Integrated motion planning for indoor mobile robots using motor schema and adaptive fuzzy behavioral modulation","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2124959323","doi":"https://doi.org/10.1109/iros.2004.1389863","mag":"2124959323"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389863","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":"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/A5000200656","display_name":"Rajibul Huq","orcid":null},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]},{"id":"https://openalex.org/I4210128769","display_name":"Centre For Cold Ocean Resources Engineering","ror":"https://ror.org/03bqa4029","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210128769"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"R. Huq","raw_affiliation_strings":["C-CORE and Faculty of Engineering, Memorial University of Newfoundland, Saint John's, NEW, Canada","Fac. of Eng., Memorial Univ. of Newfoundland, St. John's, Nfld., Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"C-CORE and Faculty of Engineering, Memorial University of Newfoundland, Saint John's, NEW, Canada","institution_ids":["https://openalex.org/I130438778","https://openalex.org/I4210128769"]},{"raw_affiliation_string":"Fac. of Eng., Memorial Univ. of Newfoundland, St. John's, Nfld., Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090155293","display_name":"George K. I. Mann","orcid":"https://orcid.org/0000-0002-1211-3374"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]},{"id":"https://openalex.org/I4210128769","display_name":"Centre For Cold Ocean Resources Engineering","ror":"https://ror.org/03bqa4029","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210128769"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G. Mann","raw_affiliation_strings":["C-CORE and Faculty of Engineering, Memorial University of Newfoundland, Saint John's, NEW, Canada","Fac. of Eng., Memorial Univ. of Newfoundland, St. John's, Nfld., Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"C-CORE and Faculty of Engineering, Memorial University of Newfoundland, Saint John's, NEW, Canada","institution_ids":["https://openalex.org/I130438778","https://openalex.org/I4210128769"]},{"raw_affiliation_string":"Fac. of Eng., Memorial Univ. of Newfoundland, St. John's, Nfld., Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010241216","display_name":"Raymond G. Gosine","orcid":"https://orcid.org/0000-0002-8990-115X"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]},{"id":"https://openalex.org/I4210128769","display_name":"Centre For Cold Ocean Resources Engineering","ror":"https://ror.org/03bqa4029","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210128769"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"R. Gosine","raw_affiliation_strings":["C-CORE and Faculty of Engineering, Memorial University of Newfoundland, Saint John's, NEW, Canada","Fac. of Eng., Memorial Univ. of Newfoundland, St. John's, Nfld., Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"C-CORE and Faculty of Engineering, Memorial University of Newfoundland, Saint John's, NEW, Canada","institution_ids":["https://openalex.org/I130438778","https://openalex.org/I4210128769"]},{"raw_affiliation_string":"Fac. of Eng., Memorial Univ. of Newfoundland, St. John's, Nfld., Canada","institution_ids":["https://openalex.org/I130438778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2991,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62497458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2985","last_page":"2990"},"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":0.9952999949455261,"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":0.9933000206947327,"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.7082935571670532},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6704679727554321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6680978536605835},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5669504404067993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5377640128135681},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.43701642751693726},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35357794165611267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33137792348861694},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14572644233703613}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.7082935571670532},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6704679727554321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6680978536605835},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5669504404067993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5377640128135681},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.43701642751693726},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35357794165611267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33137792348861694},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14572644233703613},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389863","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2005336137","https://openalex.org/W2112441941","https://openalex.org/W2113286054","https://openalex.org/W2115956314","https://openalex.org/W2120125074","https://openalex.org/W2125409550","https://openalex.org/W2129209579","https://openalex.org/W2149736015","https://openalex.org/W2152536965","https://openalex.org/W2167084044","https://openalex.org/W2250706791","https://openalex.org/W2595827555","https://openalex.org/W3184766140","https://openalex.org/W6676638597","https://openalex.org/W6677603713","https://openalex.org/W6691683669"],"related_works":["https://openalex.org/W2012380850","https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2170661558"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"novel":[4],"approach":[5,33],"for":[6,76,133],"integrating":[7],"global":[8,39],"and":[9,66,92],"local":[10,77],"path":[11,58,97,160],"planning":[12],"of":[13,63,89,137,164,168,175],"indoor":[14,169],"mobile":[15],"robots":[16],"using":[17],"motor":[18],"schema":[19,81],"based":[20,26,82,122],"behavior":[21,83,125],"coordination":[22],"with":[23],"fuzzy":[24,108],"logic":[25],"adaptive":[27,114],"behavioral":[28,115],"modulation.":[29],"First,":[30],"Voronoi":[31,50],"diagram":[32],"is":[34,45,110,152],"exploited":[35],"to":[36,47,112,141,156],"determine":[37],"the":[38,49,56,60,64,86,95,119,130,138,158,162,173,176],"safe-path.":[40],"Then":[41],"A*":[42],"search":[43],"algorithm":[44],"employed":[46],"identify":[48],"vertices":[51],"(junctions":[52],"or":[53],"nodes)":[54],"along":[55],"optimal":[57],"between":[59],"starting":[61],"point":[62],"robot":[65],"target":[67],"position.":[68],"Locally":[69],"located":[70],"junctions":[71],"then":[72],"act":[73],"as":[74],"subgoals":[75],"motion":[78],"planning.":[79],"Motor":[80],"fusion":[84],"generates":[85],"safe":[87,96,159],"direction":[88],"motion.":[90],"Subgoals":[91],"points":[93],"on":[94,123],"exhibit":[98],"attractive":[99],"forces":[100,140],"whereas":[101],"obstacles":[102],"cause":[103],"repulsive":[104],"forces.":[105],"A":[106],"supervisory":[107],"module":[109],"developed":[111],"incorporate":[113],"capabilities":[116],"which":[117],"exploit":[118],"weighted":[120],"decision-making":[121],"contextual":[124],"composition.":[126],"It":[127],"dynamically":[128],"produces":[129],"force":[131],"coefficients":[132],"context":[134],"dependent":[135],"modulation":[136],"virtual":[139],"generate":[142],"local-minima":[143],"free":[144],"trajectory":[145],"without":[146],"oscillation.":[147],"Adapted":[148],"vector":[149],"field":[150],"histogram":[151],"deployed":[153],"in":[154,161],"order":[155],"modify":[157],"presence":[163],"unknown":[165],"obstacles.":[166],"Simulation":[167],"navigation":[170],"examples":[171],"validates":[172],"performance":[174],"algorithm.":[177]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
