{"id":"https://openalex.org/W2567454113","doi":"https://doi.org/10.1109/itsc.2016.7795866","title":"A simple yet effective obstacle avoider for the IARA autonomous car","display_name":"A simple yet effective obstacle avoider for the IARA autonomous car","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2567454113","doi":"https://doi.org/10.1109/itsc.2016.7795866","mag":"2567454113"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2016.7795866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2016.7795866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","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/A5048196131","display_name":"R\u00e2nik Guidolini","orcid":null},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Ra\u0302nik Guidolini","raw_affiliation_strings":["Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil"],"affiliations":[{"raw_affiliation_string":"Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056260430","display_name":"Claudine Badu\u00e9","orcid":"https://orcid.org/0000-0003-1810-8581"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Claudine Badue","raw_affiliation_strings":["Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil"],"affiliations":[{"raw_affiliation_string":"Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064440897","display_name":"Mariella Berger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160371","display_name":"Instituto Federal do Esp\u00edrito Santo","ror":"https://ror.org/05rshs160","country_code":"BR","type":"funder","lineage":["https://openalex.org/I4210160371"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mariella Berger","raw_affiliation_strings":["Centro de Referência em Formaç£o e em EaD, Instituto Federal do Espírito Santo, Vitória, 29040-860, Brazil"],"affiliations":[{"raw_affiliation_string":"Centro de Referência em Formaç£o e em EaD, Instituto Federal do Espírito Santo, Vitória, 29040-860, Brazil","institution_ids":["https://openalex.org/I4210160371"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058515069","display_name":"Lucas Veronese","orcid":"https://orcid.org/0000-0002-7374-5826"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Lucas de Paula Veronese","raw_affiliation_strings":["Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil"],"affiliations":[{"raw_affiliation_string":"Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005735333","display_name":"Alberto F. De Souza","orcid":"https://orcid.org/0000-0003-1561-8447"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alberto F. De Souza","raw_affiliation_strings":["Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil"],"affiliations":[{"raw_affiliation_string":"Departamento de Informática, Universidade Federal do Espírito Santo, Vitoria, 29075-910, Brazil","institution_ids":["https://openalex.org/I51235708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5048196131"],"corresponding_institution_ids":["https://openalex.org/I51235708"],"apc_list":null,"apc_paid":null,"fwci":1.8581,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.9072131,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1914","last_page":"1919"},"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":0.9988999962806702,"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":0.9968000054359436,"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/obstacle","display_name":"Obstacle","score":0.9634888172149658},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7626478672027588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6548376083374023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.519952654838562},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4773124158382416},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.46766650676727295},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4352956712245941},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43010666966438293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3790575861930847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37342900037765503},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33211153745651245},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10470432043075562},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09911277890205383}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.9634888172149658},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7626478672027588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6548376083374023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.519952654838562},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4773124158382416},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.46766650676727295},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4352956712245941},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43010666966438293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3790575861930847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37342900037765503},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33211153745651245},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10470432043075562},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09911277890205383},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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":1,"locations":[{"id":"doi:10.1109/itsc.2016.7795866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2016.7795866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320331556","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W207961354","https://openalex.org/W1942635339","https://openalex.org/W1983948265","https://openalex.org/W1987681843","https://openalex.org/W1996183429","https://openalex.org/W2001293715","https://openalex.org/W2053786480","https://openalex.org/W2089408256","https://openalex.org/W2091307069","https://openalex.org/W2134765105","https://openalex.org/W2141528408","https://openalex.org/W2148361676","https://openalex.org/W2206183808","https://openalex.org/W2542436733","https://openalex.org/W2553580816","https://openalex.org/W3083764925"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W2906946336","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"We":[0,127],"present":[1],"a":[2,49,108,140],"simple":[3],"yet":[4],"effective":[5],"obstacle":[6,25,63,78,98,151,183],"avoider":[7,26,64,79,184],"for":[8,178],"the":[9,23,35,38,40,46,52,57,62,66,70,77,81,86,90,94,97,104,117,120,144,150,155,159,172,176,182],"Intelligent":[10],"and":[11,48],"Autonomous":[12],"Robotic":[13],"Automobile":[14],"(IARA).":[15],"At":[16],"each":[17],"or":[18],"several":[19],"motion":[20,156],"planning":[21],"cycles,":[22],"IARA's":[24,105],"firstly":[27],"receives":[28],"as":[29],"input":[30],"an":[31,74],"updated":[32],"map":[33],"of":[34,85,96,119,143],"environment":[36],"around":[37],"car,":[39],"current":[41,53],"car's":[42,54],"state":[43,55],"relative":[44],"to":[45,56,88,161,165],"map,":[47],"trajectory":[50,71,87],"from":[51,163],"next":[58],"goal":[59],"state.":[60],"Secondly,":[61],"simulates":[65],"trajectory.":[67],"Finally,":[68],"if":[69],"crashes":[72],"into":[73],"obstacle,":[75],"then":[76],"decreases":[80],"linear":[82],"velocity":[83],"commands":[84],"prevent":[89],"accident.":[91],"To":[92],"evaluate":[93],"performance":[95],"avoider,":[99,152],"we":[100],"executed":[101,174],"experiments":[102,131,173],"with":[103,132,154,175],"simulator":[106],"using":[107],"real-world":[109],"sensor":[110],"data":[111],"log,":[112],"which":[113,135],"was":[114,136],"acquired":[115],"in":[116,170],"campus":[118],"Universidade":[121],"Federal":[122],"do":[123],"Esp\u00edrito":[124],"Santo":[125],"(UFES).":[126],"also":[128],"carried":[129],"out":[130],"IARA":[133,160,177],"itself,":[134],"driven":[137],"autonomously":[138],"on":[139],"parking":[141],"lot":[142],"UFES.":[145],"Experimental":[146],"results":[147],"showed":[148],"that":[149],"together":[153],"planner,":[157],"allows":[158],"go":[162],"objective":[164,166],"safely.":[167],"In":[168],"fact,":[169],"all":[171],"about":[179],"one":[180],"year,":[181],"operated":[185],"successfully.":[186]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}