{"id":"https://openalex.org/W2096637436","doi":"https://doi.org/10.1109/itsc.2008.4732685","title":"Safe Vehicle Navigation in Dynamic Urban Scenarios","display_name":"Safe Vehicle Navigation in Dynamic Urban Scenarios","publication_year":2008,"publication_date":"2008-10-01","ids":{"openalex":"https://openalex.org/W2096637436","doi":"https://doi.org/10.1109/itsc.2008.4732685","mag":"2096637436"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2008.4732685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2008.4732685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 11th International IEEE Conference on Intelligent Transportation Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00326267","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089121639","display_name":"Kristijan Ma\u010dek","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kristijan Macek","raw_affiliation_strings":["Swiss Federal Institute of Technology of Z\u00fcrich, Switzerland","Swiss Fed. Inst. of Technol. Zurich (CH, Zurich"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology of Z\u00fcrich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"Swiss Fed. Inst. of Technol. Zurich (CH, Zurich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011271884","display_name":"Dizan Vasquez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dizan Vasquez","raw_affiliation_strings":["Swiss Federal Institute of Technology of Z\u00fcrich, Switzerland","Swiss Fed. Inst. of Technol. Zurich (CH, Zurich"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology of Z\u00fcrich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"Swiss Fed. Inst. of Technol. Zurich (CH, Zurich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059766281","display_name":"Thierry Fraichard","orcid":"https://orcid.org/0000-0002-0763-3260"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thierry Fraichard","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, France","Inria Grenoble Rhone-Alpes (FR), Grenoble"],"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"Inria Grenoble Rhone-Alpes (FR), Grenoble","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Swiss Federal Institute of Technology of Z\u00fcrich, Switzerland","Swiss Fed. Inst. of Technol. Zurich (CH, Zurich"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology of Z\u00fcrich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"Swiss Fed. Inst. of Technol. Zurich (CH, Zurich","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089121639"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4847,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.89900073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"482","last_page":"489"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.715679407119751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6908698081970215},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6513368487358093},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.648711085319519},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6127611994743347},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5621539354324341},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5542631149291992},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43402713537216187},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42783647775650024},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4232226610183716},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3618570566177368},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.32401251792907715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2511403560638428},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19509261846542358},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1520664095878601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11447528004646301},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07316851615905762}],"concepts":[{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.715679407119751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6908698081970215},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6513368487358093},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.648711085319519},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6127611994743347},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5621539354324341},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5542631149291992},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43402713537216187},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42783647775650024},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4232226610183716},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3618570566177368},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.32401251792907715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2511403560638428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19509261846542358},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1520664095878601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11447528004646301},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07316851615905762},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/itsc.2008.4732685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2008.4732685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 11th International IEEE Conference on Intelligent Transportation Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.413.5850","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.413.5850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.archives-ouvertes.fr/docs/00/44/74/52/PDF/09-automatika-macek-etal.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:inria-00326267v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00326267","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":"IEEE Conference on Intelligent Transportation Systems, Oct 2008, Beijing, China","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00326267v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00326267","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":"IEEE Conference on Intelligent Transportation Systems, Oct 2008, Beijing, China","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W87278644","https://openalex.org/W1136193735","https://openalex.org/W1484387568","https://openalex.org/W1555623254","https://openalex.org/W1979743043","https://openalex.org/W2000359213","https://openalex.org/W2002440441","https://openalex.org/W2117211893","https://openalex.org/W2119803140","https://openalex.org/W2125409550","https://openalex.org/W2141698884","https://openalex.org/W2142969240","https://openalex.org/W2150495433","https://openalex.org/W2152365564","https://openalex.org/W2156256170","https://openalex.org/W2160626949","https://openalex.org/W2165852544","https://openalex.org/W6603520242"],"related_works":["https://openalex.org/W2357256365","https://openalex.org/W2348502264","https://openalex.org/W2365486383","https://openalex.org/W2362059367","https://openalex.org/W2901443725","https://openalex.org/W2350084742","https://openalex.org/W2357988862","https://openalex.org/W1855558850","https://openalex.org/W2353819887","https://openalex.org/W1852677413"],"abstract_inverted_index":{"This":[0],"paper":[1,146],"has":[2,127],"presented":[3],"the":[4,8,12,33,49,53,59,63,69,81,86,125,143,149,157,170,173],"deliberative":[5],"part":[6],"of":[7,26,32,52,62,68,145,159,176],"navigation":[9,70,114],"architecture":[10,71,126],"for":[11],"SmartTer":[13],"platform,":[14],"comprising":[15],"two":[16,29],"main":[17],"component:":[18],"(a)":[19],"route":[20],"planning,":[21,46],"which":[22,47,105],"finds":[23],"a":[24,75],"set":[25],"configurations":[27],"between":[28],"given":[30,39],"points":[31],"environment":[34],"while":[35,55],"taking":[36,56],"into":[37,57],"account":[38,58],"traffic":[40],"rules;":[41],"and":[42,96,122,133,172],"(b)":[43],"partial":[44],"motion":[45,82,162],"handles":[48],"actual":[50],"execution":[51],"plan":[54],"dynamic":[60,116],"elements":[61],"world.":[64],"A":[65],"key":[66],"aspect":[67],"proposed":[72],"is":[73,78,106,156],"that":[74],"special":[76],"attention":[77],"paid":[79],"to":[80,88,167],"safety":[83,92,178],"issue,":[84],"ie":[85],"ability":[87],"avoid":[89],"collisions.":[90],"Different":[91],"levels":[93],"are":[94,100,140],"explored":[95],"their":[97],"operational":[98],"conditions":[99],"explicitly":[101],"spelled":[102],"out":[103],"(something":[104],"usually":[107],"not":[108],"done).":[109],"The":[110],"results":[111,139],"depict":[112],"safe":[113],"in":[115,130,165],"scenarios":[117],"whichinclude":[118],"both":[119,131,169],"moving":[120],"vehicles":[121],"pedestrians,":[123],"where":[124],"been":[128],"implemented":[129],"real":[132],"simulated":[134],"platforms,":[135],"although":[136],"only":[137],"simulation":[138],"provided":[141],"at":[142],"time":[144,174],"writing.":[147],"On":[148],"theoretical":[150],"side,":[151],"an":[152],"interesting":[153],"research":[154],"direction":[155],"exploration":[158],"more":[160],"advanced":[161],"prediction":[163],"techniques":[164],"order":[166],"improve":[168],"accuracy":[171],"horizon":[175],"our":[177],"checks.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}