{"id":"https://openalex.org/W2110750157","doi":"https://doi.org/10.1109/iros.2009.5354497","title":"TOOMAS: Interactive Shopping Guide robots in everyday use - final implementation and experiences from long-term field trials","display_name":"TOOMAS: Interactive Shopping Guide robots in everyday use - final implementation and experiences from long-term field trials","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2110750157","doi":"https://doi.org/10.1109/iros.2009.5354497","mag":"2110750157"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":null,"display_name":"H.-M. Gross","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"H.-M. Gross","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067332494","display_name":"H.-J. Boehme","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165059","display_name":"Hochschule f\u00fcr Technik und Wirtschaft Dresden \u2013 University of Applied Sciences","ror":"https://ror.org/05q5pk319","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210165059"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Boehme","raw_affiliation_strings":["University of Applied Sciences, Dresden, Germany","University of Applied Sciences Dresden, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Applied Sciences, Dresden, Germany","institution_ids":["https://openalex.org/I4210165059"]},{"raw_affiliation_string":"University of Applied Sciences Dresden, Germany","institution_ids":["https://openalex.org/I4210165059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110171956","display_name":"Ch. Schroeter","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ch. Schroeter","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057753978","display_name":"Steffen Mueller","orcid":"https://orcid.org/0000-0003-1683-6243"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Mueller","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102899243","display_name":"Alexander Koenig","orcid":"https://orcid.org/0000-0002-7656-1969"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Koenig","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055533641","display_name":"E. Einhorn","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"E. Einhorn","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Laboratory, Ilmenau University of Technology, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, 98684, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105308591","display_name":"C. J. Martin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146971","display_name":"MetraLabs (Germany)","ror":"https://ror.org/04zqv4n59","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210146971"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ch. Martin","raw_affiliation_strings":["Metra Laboratories Robotics GmbH Ilmenau, Ilmenau, Germany","MetraLabs Robotics GmbH Ilmenau, 98693, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Metra Laboratories Robotics GmbH Ilmenau, Ilmenau, Germany","institution_ids":[]},{"raw_affiliation_string":"MetraLabs Robotics GmbH Ilmenau, 98693, Germany","institution_ids":["https://openalex.org/I4210146971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046430101","display_name":"M. Merten","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146971","display_name":"MetraLabs (Germany)","ror":"https://ror.org/04zqv4n59","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210146971"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Merten","raw_affiliation_strings":["Metra Laboratories Robotics GmbH Ilmenau, Ilmenau, Germany","MetraLabs Robotics GmbH Ilmenau, 98693, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Metra Laboratories Robotics GmbH Ilmenau, Ilmenau, Germany","institution_ids":[]},{"raw_affiliation_string":"MetraLabs Robotics GmbH Ilmenau, 98693, Germany","institution_ids":["https://openalex.org/I4210146971"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051240931","display_name":"A. Bley","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146971","display_name":"MetraLabs (Germany)","ror":"https://ror.org/04zqv4n59","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210146971"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Bley","raw_affiliation_strings":["Metra Laboratories Robotics GmbH Ilmenau, Ilmenau, Germany","MetraLabs Robotics GmbH Ilmenau, 98693, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Metra Laboratories Robotics GmbH Ilmenau, Ilmenau, Germany","institution_ids":[]},{"raw_affiliation_string":"MetraLabs Robotics GmbH Ilmenau, 98693, Germany","institution_ids":["https://openalex.org/I4210146971"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I119449181"],"apc_list":null,"apc_paid":null,"fwci":19.6775,"has_fulltext":false,"cited_by_count":161,"citation_normalized_percentile":{"value":0.99458476,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2005","last_page":"2012"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7241814136505127},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6513739228248596},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6486862897872925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6357154846191406},{"id":"https://openalex.org/keywords/field-trial","display_name":"Field trial","score":0.6134136319160461},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4980812072753906},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4495280981063843},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4457486569881439},{"id":"https://openalex.org/keywords/everyday-life","display_name":"Everyday life","score":0.440887451171875},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.36379432678222656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2495952844619751}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7241814136505127},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6513739228248596},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6486862897872925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6357154846191406},{"id":"https://openalex.org/C2779565104","wikidata":"https://www.wikidata.org/wiki/Q5447138","display_name":"Field trial","level":2,"score":0.6134136319160461},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4980812072753906},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4495280981063843},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4457486569881439},{"id":"https://openalex.org/C2779018934","wikidata":"https://www.wikidata.org/wiki/Q1129653","display_name":"Everyday life","level":2,"score":0.440887451171875},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.36379432678222656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2495952844619751},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.702.74","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.702.74","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.tu-ilmenau.de/fileadmin/media/neurob/publications/conferences_int/2009/Gross-IROS-2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W11562209","https://openalex.org/W109761125","https://openalex.org/W1487667681","https://openalex.org/W2040092139","https://openalex.org/W2088842142","https://openalex.org/W2103548168","https://openalex.org/W2112126968","https://openalex.org/W2114439319","https://openalex.org/W2121822743","https://openalex.org/W2125409550","https://openalex.org/W2128527620","https://openalex.org/W2132049110","https://openalex.org/W2132631693","https://openalex.org/W2137044708","https://openalex.org/W2141936687","https://openalex.org/W2159885489","https://openalex.org/W2161394417","https://openalex.org/W2307558512","https://openalex.org/W2336416123","https://openalex.org/W6604435765","https://openalex.org/W6629123219","https://openalex.org/W6679607388","https://openalex.org/W6681041082","https://openalex.org/W6683593863","https://openalex.org/W6698660717"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W599445171","https://openalex.org/W2371503857","https://openalex.org/W2802914149","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2911845291","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0,76],"paper":[1],"gives":[2],"a":[3,92,161],"comprehensive":[4],"overview":[5],"of":[6,16,44,52,63,72,94,147,150,156],"our":[7],"Shopping":[8],"Guide":[9],"project,":[10],"which":[11],"aims":[12],"at":[13,87],"the":[14,40,50,53,57,60,64,70,145,153],"development":[15,155],"interactive":[17,95],"mobile":[18,96],"shopping":[19,54,65,97,123,158],"companion":[20],"robots":[21,99],"for":[22,168],"everyday":[23,106],"use":[24,170],"in":[25,80,104,129,135],"challenging":[26],"operating":[27,58],"environments":[28,107],"such":[29,105],"as":[30],"home":[31,132],"improvement":[32,133],"stores.":[33],"It":[34],"is":[35],"spanning":[36],"an":[37],"arc":[38],"from":[39],"expectations":[41],"and":[42,47,56,83,90,108],"requirements":[43],"store":[45],"owners":[46],"customers,":[48],"via":[49],"challenges":[51],"scenario":[55],"environment,":[59],"implemented":[61],"functionality":[62],"guide":[66,98,159],"robots,":[67,160],"up":[68],"to":[69,144],"results":[71],"long-term":[73],"field":[74,77,118],"trials.":[75],"trials":[78],"started":[79],"April":[81],"2008":[82],"still":[84],"ongoing":[85],"aim":[86],"studying":[88],"whether":[89],"how":[91,109],"group":[93],"can":[100],"operate":[101],"completely":[102],"autonomously":[103],"they":[110],"are":[111],"accepted":[112],"by":[113],"uninstructed":[114],"customers.":[115],"In":[116],"these":[117,157],"trials,":[119],"where":[120],"nine":[121],"robotic":[122],"guides":[124],"traveled":[125],"together":[126],"2187":[127],"kilometers":[128],"three":[130],"different":[131],"stores":[134],"Germany,":[136],"more":[137],"than":[138],"8,600":[139],"customers":[140],"were":[141],"successfully":[142],"guided":[143],"locations":[146],"their":[148],"products":[149],"choice.":[151],"With":[152],"successful":[154],"further":[162],"important":[163],"step":[164],"towards":[165],"assistive":[166],"robotics":[167],"daily":[169],"has":[171],"been":[172],"done.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":18},{"year":2012,"cited_by_count":16}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}
