{"id":"https://openalex.org/W2565804287","doi":"https://doi.org/10.1109/iros.2016.7759697","title":"Expressive navigation and Local Path-Planning of independent steering autonomous systems","display_name":"Expressive navigation and Local Path-Planning of independent steering autonomous systems","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565804287","doi":"https://doi.org/10.1109/iros.2016.7759697","mag":"2565804287"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5000059275","display_name":"George Todoran","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"George Todoran","raw_affiliation_strings":["Institute of Computer Aided Automation, Vienna University of Technology, Vienna, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Aided Automation, Vienna University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108209742","display_name":"Markus Bader","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Bader","raw_affiliation_strings":["Institute of Computer Aided Automation, Vienna University of Technology, Vienna, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Aided Automation, Vienna University of Technology, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4742","last_page":"4749"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/trajectory","display_name":"Trajectory","score":0.6490296125411987},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6093690991401672},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5997000932693481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5745090246200562},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5368505120277405},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5337415933609009},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.509192168712616},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48896467685699463},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4738640785217285},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.46665287017822266},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4463844299316406},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.42780357599258423},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4183095693588257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4061567783355713},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3670172095298767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3246317505836487},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2887907922267914},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2132357358932495}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6490296125411987},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6093690991401672},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5997000932693481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5745090246200562},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5368505120277405},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5337415933609009},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.509192168712616},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48896467685699463},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4738640785217285},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.46665287017822266},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4463844299316406},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.42780357599258423},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4183095693588257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4061567783355713},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3670172095298767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3246317505836487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2887907922267914},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2132357358932495},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6399999856948853,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W325338037","https://openalex.org/W1521930086","https://openalex.org/W1670927185","https://openalex.org/W1933653735","https://openalex.org/W1979383880","https://openalex.org/W2005354226","https://openalex.org/W2040616179","https://openalex.org/W2114897272","https://openalex.org/W2171414411","https://openalex.org/W2295146394","https://openalex.org/W2614434911","https://openalex.org/W3083074253","https://openalex.org/W6651853181","https://openalex.org/W6737881347"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2046076203","https://openalex.org/W2559356576","https://openalex.org/W4366147135","https://openalex.org/W2170796892","https://openalex.org/W2152467909","https://openalex.org/W3201393711","https://openalex.org/W2965135507"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,70,83,110,150,155,195],"novel":[4],"Local-Path":[5],"Planning":[6],"approach":[7,17,96,193],"for":[8,128,204],"an":[9,102],"independent":[10],"four-wheel":[11],"steering":[12],"(I4WS)":[13],"mobile":[14],"base.":[15],"The":[16,95,133],"smoothly":[18],"drives":[19],"and":[20,30,100,126,157,200],"rotates":[21],"the":[22,45,50,55,63,74,118,121,162,175,189,192,205],"platform":[23],"while":[24,61,184],"still":[25],"following":[26],"given":[28,149],"path":[29,156],"avoiding":[31],"obstacles.":[32],"I4WS":[33],"vehicles":[34],"are":[35,66],"omnidirectional":[36],"vehicles,":[37],"similar":[38],"to":[39,48,54,77,82,92,142,168,179],"shopping":[40],"carts,":[41],"if":[42],"one":[43],"neglects":[44],"time":[46],"needed":[47],"steer":[49],"wheels.":[51],"However,":[52],"due":[53],"danger":[56],"of":[57,87,120,140,152,191,207],"mechanical":[58],"parts":[59],"breaking":[60],"actuating":[62],"wheels,":[64],"they":[65],"commonly":[67],"controlled":[68],"in":[69],"stop-and-go":[71],"fashion,":[72],"where":[73],"vehicle":[75],"stops":[76],"turn":[78],"its":[79,202],"wheels":[80],"perpendicular":[81],"desired":[84],"instantaneous":[85],"center":[86],"curvature":[88],"(ICC)":[89],"before":[90],"starting":[91],"move":[93],"again.":[94],"overcomes":[97],"this":[98],"limitation":[99],"ensures":[101],"ICC-based":[103],"kinematic":[104],"constraint":[105],"during":[106],"continuous":[107],"motion":[108],"using":[109,198],"flat-input":[111],"controller":[112],"running":[113],"at":[114,146],"100":[115],"Hz.":[116],"Therefore,":[117],"trajectory":[119],"ICC":[122],"is":[123,166],"both":[124],"predictable":[125],"suitable":[127],"model":[129],"predictive":[130],"control":[131],"(MPC).":[132],"MPC":[134],"implemented":[135],"generates":[136],"optimized":[137],"collision-free":[138],"trajectories":[139],"up":[141],"several":[143],"meters":[144],"ahead":[145],"10":[147],"Hz,":[148],"set":[151],"points":[153,183],"along":[154],"laser":[158],"contour":[159],"readings.":[160],"Furthermore,":[161],"planner":[163],"realized":[164],"here":[165],"able":[167],"deal":[169],"with":[170],"additional":[171],"constraints":[172],"such":[173],"as":[174],"vehicle's":[176],"view":[177],"direction":[178],"focus":[180],"on":[181,194],"attention":[182],"driving.":[185],"Experimental":[186],"results":[187],"highlight":[188],"capabilities":[190],"simulated":[196],"robot,":[197],"GazeboSim,":[199],"demonstrate":[201],"applicability":[203],"field":[206],"service":[208],"robotics.":[209]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
