{"id":"https://openalex.org/W2625493521","doi":"https://doi.org/10.1109/iros.2017.8202310","title":"Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints","display_name":"Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2625493521","doi":"https://doi.org/10.1109/iros.2017.8202310","mag":"2625493521"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01521920","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022568814","display_name":"Abdellah Khelloufi","orcid":"https://orcid.org/0000-0002-2664-7270"},"institutions":[{"id":"https://openalex.org/I192268740","display_name":"University of Algiers Benyoucef Benkhedda","ror":"https://ror.org/011r6gp69","country_code":"DZ","type":"education","lineage":["https://openalex.org/I192268740"]},{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]},{"id":"https://openalex.org/I4210144566","display_name":"Laboratoire de l'Informatique du Parall\u00e9lisme","ror":"https://ror.org/04msnz457","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210144566"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"Abdellah Khelloufi","raw_affiliation_strings":["Center for Development of Advanced Technologies CDTA, Algiers, Algeria","Faculty of Electronics and Computer Science, BP32 EL-ALIA, Algiers, Algeria","Laboratoire de Robotique Parall\u00e9lisme Electro\u00e9nerg\u00e9tique [Alger]","Interactive Digital Humans"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Development of Advanced Technologies CDTA, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]},{"raw_affiliation_string":"Faculty of Electronics and Computer Science, BP32 EL-ALIA, Algiers, Algeria","institution_ids":["https://openalex.org/I192268740"]},{"raw_affiliation_string":"Laboratoire de Robotique Parall\u00e9lisme Electro\u00e9nerg\u00e9tique [Alger]","institution_ids":["https://openalex.org/I4210144566"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029945798","display_name":"Nouara Achour","orcid":"https://orcid.org/0000-0002-9670-7005"},"institutions":[{"id":"https://openalex.org/I192268740","display_name":"University of Algiers Benyoucef Benkhedda","ror":"https://ror.org/011r6gp69","country_code":"DZ","type":"education","lineage":["https://openalex.org/I192268740"]},{"id":"https://openalex.org/I4210144566","display_name":"Laboratoire de l'Informatique du Parall\u00e9lisme","ror":"https://ror.org/04msnz457","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I113428412","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210144566"]}],"countries":["DZ","FR"],"is_corresponding":false,"raw_author_name":"Nouara Achour","raw_affiliation_strings":["Faculty of Electronics and Computer Science, BP32 EL-ALIA, Algiers, Algeria","Laboratoire de Robotique Parall\u00e9lisme Electro\u00e9nerg\u00e9tique [Alger]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electronics and Computer Science, BP32 EL-ALIA, Algiers, Algeria","institution_ids":["https://openalex.org/I192268740"]},{"raw_affiliation_string":"Laboratoire de Robotique Parall\u00e9lisme Electro\u00e9nerg\u00e9tique [Alger]","institution_ids":["https://openalex.org/I4210144566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064753856","display_name":"Robin Passama","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Robin Passama","raw_affiliation_strings":["Laboratory for Compute Science, Micro-electronics and Robotics LIRMM, Universit\u00e9 de Montpellier CNRS, Montpellier, France","Interactive Digital Humans"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Compute Science, Micro-electronics and Robotics LIRMM, Universit\u00e9 de Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Cherubini","raw_affiliation_strings":["Laboratory for Compute Science, Micro-electronics and Robotics LIRMM, Universit\u00e9 de Montpellier CNRS, Montpellier, France","Interactive Digital Humans"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Compute Science, Micro-electronics and Robotics LIRMM, Universit\u00e9 de Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6313,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77742904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1331","last_page":"1336"},"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":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.8023104667663574},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7740814685821533},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7513391971588135},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.734528660774231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7336291074752808},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6569401025772095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6551979184150696},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.65206378698349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6488399505615234},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6134219765663147},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.5651471018791199},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5278211236000061},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4574406147003174},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3205420970916748},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.31725603342056274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.261432409286499},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.1105031669139862},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.09734514355659485},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07388633489608765}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8023104667663574},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7740814685821533},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7513391971588135},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.734528660774231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7336291074752808},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6569401025772095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6551979184150696},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.65206378698349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6488399505615234},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6134219765663147},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.5651471018791199},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5278211236000061},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4574406147003174},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3205420970916748},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.31725603342056274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.261432409286499},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.1105031669139862},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.09734514355659485},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07388633489608765},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8202310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01521920v3","is_oa":true,"landing_page_url":"https://hal.science/hal-01521920","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.1331-1336, ⟨10.1109/IROS.2017.8202310⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01521920v3","is_oa":true,"landing_page_url":"https://hal.science/hal-01521920","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.1331-1336, ⟨10.1109/IROS.2017.8202310⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1994001763","https://openalex.org/W2057084335","https://openalex.org/W2060416901","https://openalex.org/W2071957557","https://openalex.org/W2082991751","https://openalex.org/W2091425318","https://openalex.org/W2096833311","https://openalex.org/W2102402483","https://openalex.org/W2104332709","https://openalex.org/W2111691855","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2152536965","https://openalex.org/W2158020157","https://openalex.org/W2177274602","https://openalex.org/W2611243847","https://openalex.org/W4235740860","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,28],"tentacle-based":[4],"obstacle":[5],"avoidance":[6],"scheme":[7],"for":[8],"omnidirectional":[9],"mobile":[10],"robots":[11],"that":[12],"must":[13,66],"satisfy":[14],"visibility":[15],"constraints":[16],"during":[17],"navigation.":[18],"The":[19,40,79],"navigation":[20],"task":[21],"consists":[22],"of":[23,34,77],"driving":[24],"the":[25,32,49,52,64,68,72],"robot":[26,53,65],"towards":[27],"visual":[29],"target":[30,41,73],"in":[31,74,83],"presence":[33],"environment":[35],"(static":[36],"or":[37],"moving)":[38],"obstacles.":[39],"is":[42,81],"acquired":[43],"by":[44,56],"an":[45],"on-board":[46],"camera,":[47],"while":[48,70],"obstacles":[50,69],"surrounding":[51],"are":[54],"sensed":[55],"laser":[57],"range":[58],"scanners.":[59],"To":[60],"perform":[61],"such":[62],"task,":[63],"avoid":[67],"maintaining":[71],"its":[75],"field":[76],"view.":[78],"approach":[80],"validated":[82],"both":[84],"simulated":[85],"and":[86],"real":[87],"experiments.":[88]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}