{"id":"https://openalex.org/W1970967906","doi":"https://doi.org/10.1109/iros.2012.6385759","title":"Discrete event controller for urban obstacles negotiation with walking robot","display_name":"Discrete event controller for urban obstacles negotiation with walking robot","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1970967906","doi":"https://doi.org/10.1109/iros.2012.6385759","mag":"1970967906"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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":"https://openalex.org/A5023007633","display_name":"Krzysztof Walas","orcid":"https://orcid.org/0000-0002-2800-2716"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Krzysztof Walas","raw_affiliation_strings":["Faculty of Electrical Engineering, Poznan University of Technology, Poland","Faculty of Electrical Engineering, Pozna\u0144 University of Technology, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Poznan University of Technology, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Pozna\u0144 University of Technology, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016067406","display_name":"Andrzej Kasi\u0144ski","orcid":null},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Andrzej Kasinski","raw_affiliation_strings":["Faculty of Electrical Engineering, Poznan University of Technology, Poland","Faculty of Electrical Engineering, Pozna\u0144 University of Technology, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Poznan University of Technology, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Pozna\u0144 University of Technology, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5023007633"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.8843,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75252553,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"181","last_page":"186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robot","display_name":"Robot","score":0.7966866493225098},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.718707799911499},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.7085516452789307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6774609088897705},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.617417573928833},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5714230537414551},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4926629662513733},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.490285187959671},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4501039683818817},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.44141432642936707},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42071881890296936},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.4138655364513397},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41004183888435364},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35465919971466064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3346444368362427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20076614618301392},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19605094194412231},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09190773963928223}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7966866493225098},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.718707799911499},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.7085516452789307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6774609088897705},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.617417573928833},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5714230537414551},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4926629662513733},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.490285187959671},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4501039683818817},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.44141432642936707},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42071881890296936},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.4138655364513397},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41004183888435364},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35465919971466064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3346444368362427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20076614618301392},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19605094194412231},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09190773963928223},{"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/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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W185494716","https://openalex.org/W1529076775","https://openalex.org/W1569588777","https://openalex.org/W1640247718","https://openalex.org/W1981087314","https://openalex.org/W2014019964","https://openalex.org/W2065238107","https://openalex.org/W2096304345","https://openalex.org/W2107252826","https://openalex.org/W2113350179","https://openalex.org/W2122996380","https://openalex.org/W2138419444","https://openalex.org/W2146709755","https://openalex.org/W2154320114","https://openalex.org/W2161405779","https://openalex.org/W2163119090","https://openalex.org/W2166782444","https://openalex.org/W2325569306","https://openalex.org/W2333287530","https://openalex.org/W6645445458","https://openalex.org/W6678566773"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4242459863","https://openalex.org/W127357700","https://openalex.org/W1480528870","https://openalex.org/W2508541108","https://openalex.org/W4243191745","https://openalex.org/W2724597727","https://openalex.org/W2315419748","https://openalex.org/W1029445510","https://openalex.org/W2072177288"],"abstract_inverted_index":{"Multilegged":[0],"robots":[1,12],"working":[2],"in":[3],"urban":[4,31],"environment":[5,146],"have":[6,20],"to":[7,21,62,83,156],"cope":[8],"with":[9,81,147],"obstacles.":[10],"Some":[11],"avoid":[13],"them,":[14],"but":[15],"there":[16],"are":[17,59,65,135],"obstacles":[18,159],"which":[19,64],"be":[22],"traversed.":[23],"In":[24,43,104],"the":[25,36,46,49,53,70,84,87,109,115,119,126,132,161],"paper":[26],"a":[27,142,148],"generalized":[28],"scheme":[29],"of":[30,73,86,94,118,141],"obstacle":[32],"negotiation":[33,93],"process":[34],"using":[35,160],"Finite":[37,120],"State":[38,121],"Machine":[39,122],"model":[40],"was":[41,154],"presented.":[42,113],"each":[44],"state":[45],"robot":[47,74,134,143,153],"performs":[48],"movement":[50],"or":[51],"gathers":[52],"data":[54],"from":[55],"sensors.":[56],"The":[57,76,89,137,152],"transitions":[58],"made":[60],"according":[61],"events":[63],"external":[66],"signals":[67],"depending":[68],"on":[69,128,131],"particular":[71],"set":[72],"variables.":[75],"obtained":[77],"automaton":[78,91,111],"is":[79,112,123],"generic":[80],"respect":[82],"type":[85],"obstacle.":[88],"same":[90,162],"describes":[92],"curbs,":[95],"platforms":[96],"and":[97,101,130,144,150],"stairs":[98],"(in":[99],"ascent":[100],"descent":[102],"phase).":[103],"this":[105],"article":[106],"at":[107],"first":[108],"extended":[110],"Then":[114],"reduced":[116],"form":[117],"described.":[124],"Next":[125],"experiments":[127],"simulator":[129],"real":[133],"demonstrated.":[136],"experimental":[138],"set-up":[139],"consists":[140],"an":[145],"curb":[149],"stairs.":[151],"able":[155],"negotiate":[157],"these":[158],"automaton.":[163]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
