{"id":"https://openalex.org/W3208178700","doi":"https://doi.org/10.1109/itsc48978.2021.9564451","title":"Visibility-Aware Adaptative Speed Planner for Human-like Navigation in Roundabouts","display_name":"Visibility-Aware Adaptative Speed Planner for Human-like Navigation in Roundabouts","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3208178700","doi":"https://doi.org/10.1109/itsc48978.2021.9564451","mag":"3208178700"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (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/A5008926611","display_name":"Armando Astudillo","orcid":"https://orcid.org/0000-0003-3562-9215"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Armando Astudillo","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042730705","display_name":"Nievsabel Molina","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122994","display_name":"Akka Technologies (France)","ror":"https://ror.org/02th50f93","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210122994"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nievsabel Molina","raw_affiliation_strings":["AKKA Technologies,Guyancourt,France"],"affiliations":[{"raw_affiliation_string":"AKKA Technologies,Guyancourt,France","institution_ids":["https://openalex.org/I4210122994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082527457","display_name":"Irene Cort\u00e9s","orcid":"https://orcid.org/0000-0003-1310-598X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Irene Cortes","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073745465","display_name":"Imane Mahtout","orcid":null},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Imane Mahtout","raw_affiliation_strings":["Renault SAS,Research Department,Guyancourt,France"],"affiliations":[{"raw_affiliation_string":"Renault SAS,Research Department,Guyancourt,France","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060437919","display_name":"David S. Gonz\u00e1lez-Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-8135-4403"},"institutions":[{"id":"https://openalex.org/I4210122994","display_name":"Akka Technologies (France)","ror":"https://ror.org/02th50f93","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210122994"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Gonzalez","raw_affiliation_strings":["AKKA Technologies,Guyancourt,France"],"affiliations":[{"raw_affiliation_string":"AKKA Technologies,Guyancourt,France","institution_ids":["https://openalex.org/I4210122994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003277964","display_name":"Jorge Beltr\u00e1n","orcid":"https://orcid.org/0000-0001-5966-7641"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Beltran","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019677572","display_name":"Carlos Guindel","orcid":"https://orcid.org/0000-0003-1300-3879"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Guindel","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050915847","display_name":"Alejandro Barrera","orcid":"https://orcid.org/0000-0001-5970-2961"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alejandro Barrera","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111814556","display_name":"Mario \u00c1lvarez","orcid":"https://orcid.org/0009-0003-4905-5790"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mario Alvarez","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039088139","display_name":"Cl\u00e9ment Zinoune","orcid":null},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Clement Zinoune","raw_affiliation_strings":["Renault SAS,Research Department,Guyancourt,France"],"affiliations":[{"raw_affiliation_string":"Renault SAS,Research Department,Guyancourt,France","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065311695","display_name":"Vicente Milan\u00e9s","orcid":"https://orcid.org/0000-0001-7096-6925"},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vicente Milanes","raw_affiliation_strings":["Renault SAS,Research Department,Guyancourt,France"],"affiliations":[{"raw_affiliation_string":"Renault SAS,Research Department,Guyancourt,France","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081249956","display_name":"Fernando Garc\u00eda","orcid":"https://orcid.org/0000-0002-6291-5009"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Garcia","raw_affiliation_strings":["Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Universidad Carlos III de Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5008926611"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":0.0961,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"885","last_page":"890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9979000091552734,"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/visibility","display_name":"Visibility","score":0.8704209327697754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7000630497932434},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6272348165512085},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5711995363235474},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48112860321998596},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41836294531822205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37384524941444397},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.29111605882644653},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11430302262306213}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8704209327697754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7000630497932434},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6272348165512085},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5711995363235474},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48112860321998596},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41836294531822205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37384524941444397},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.29111605882644653},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11430302262306213},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2005405247","https://openalex.org/W2170229127","https://openalex.org/W2171151351","https://openalex.org/W2306644740","https://openalex.org/W2510715855","https://openalex.org/W2749131322","https://openalex.org/W2792919579","https://openalex.org/W2795093342","https://openalex.org/W2890986599","https://openalex.org/W2903722721","https://openalex.org/W2922326277","https://openalex.org/W2963150697","https://openalex.org/W2963685970","https://openalex.org/W2964062501","https://openalex.org/W2990240451","https://openalex.org/W3082340934","https://openalex.org/W3126476416","https://openalex.org/W6743219266","https://openalex.org/W6771106832"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W4244698559","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W4246538999"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"demands":[2],"the":[3,15,19,22,25,39,42,50,54,64,71,89,98,102,120,123],"most":[4],"reliable":[5],"perception":[6],"and":[7,21,95],"navigation":[8],"technologies.":[9],"These":[10],"systems":[11],"should":[12],"consider":[13],"both":[14],"other":[16,43],"agents":[17,44],"in":[18,31,53,75,114],"road":[20,73],"limitations":[23,30],"of":[24,41,66,122],"on-board":[26],"sensors.":[27],"Knowing":[28],"sensor":[29],"real":[32,72,115],"time":[33],"allows":[34],"not":[35],"only":[36],"to":[37,47,70,91,96,101],"predict":[38],"movement":[40],"but":[45],"also":[46],"robustly":[48],"identify":[49],"free":[51],"space":[52],"road.":[55],"This":[56],"paper":[57],"presents":[58],"a":[59,84],"novel":[60],"approach":[61],"that":[62,87],"adapts":[63],"control":[65,99],"an":[67],"autonomous":[68],"vehicle":[69],"circumstances":[74],"specifically":[76],"challenging":[77],"scenarios,":[78],"i.e.,":[79],"roundabouts.":[80],"The":[81],"proposal":[82],"provides":[83],"visibility":[85],"map":[86],"helps":[88],"system":[90],"calculate":[92],"collision-free":[93],"trajectories":[94],"adapt":[97],"techniques":[100],"traffic":[103,116],"demands,":[104],"selecting":[105],"among":[106],"comfortable":[107],"or":[108],"more":[109],"ambitious":[110],"configurations.":[111],"Tests":[112],"performed":[113],"have":[117],"successfully":[118],"assessed":[119],"suitability":[121],"proposed":[124],"solution.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}