{"id":"https://openalex.org/W3214953814","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605369","title":"Proposal of a multimodal robotic architecture considering social constraints applied to an intelligent wheelchair","display_name":"Proposal of a multimodal robotic architecture considering social constraints applied to an intelligent wheelchair","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3214953814","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605369","mag":"3214953814"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","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/A5026696788","display_name":"Vinicius Moitinho","orcid":null},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Vinicius Moitinho","raw_affiliation_strings":["Electrical Engineering Department, Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072895083","display_name":"F\u00e9lix Brito","orcid":null},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Felix Brito","raw_affiliation_strings":["Electrical Engineering Department, Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046590891","display_name":"Jos\u00e9 D\u00edaz-Amado","orcid":"https://orcid.org/0000-0001-8447-784X"},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]},{"id":"https://openalex.org/I4210134504","display_name":"Universidad Cat\u00f3lica San Pablo","ror":"https://ror.org/03db1hz44","country_code":"PE","type":"education","lineage":["https://openalex.org/I4210134504"]}],"countries":["BR","PE"],"is_corresponding":false,"raw_author_name":"Jose Diaz-Amado","raw_affiliation_strings":["Electrical and Electronic Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa, Peru","Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa, Peru","institution_ids":["https://openalex.org/I4210134504"]},{"raw_affiliation_string":"Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059093687","display_name":"V\u0131\u0301tor Santos Costa","orcid":"https://orcid.org/0000-0002-3344-8237"},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Vitor Costa","raw_affiliation_strings":["Electrical Engineering Department, Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091429779","display_name":"Daniel Xavier de Sousa","orcid":"https://orcid.org/0000-0002-9426-9988"},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel Sousa","raw_affiliation_strings":["Electrical Engineering Department, Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049680107","display_name":"Elvio Prado da Silva","orcid":"https://orcid.org/0009-0002-8695-1079"},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]},{"id":"https://openalex.org/I80850581","display_name":"Universidade Federal de Uberl\u00e2ndia","ror":"https://ror.org/04x3wvr31","country_code":"BR","type":"education","lineage":["https://openalex.org/I80850581"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Elvio Prado","raw_affiliation_strings":["Electrical Engineering Department, Universidade Federal de Uberl\u00e2ndia, Brazil","Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Universidade Federal de Uberl\u00e2ndia, Brazil","institution_ids":["https://openalex.org/I80850581"]},{"raw_affiliation_string":"Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054450785","display_name":"Cleia Santos-Libarino","orcid":"https://orcid.org/0000-0002-4078-5872"},"institutions":[{"id":"https://openalex.org/I126158947","display_name":"Universidade Federal da Bahia","ror":"https://ror.org/03k3p7647","country_code":"BR","type":"education","lineage":["https://openalex.org/I126158947"]},{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Cleia Libarino","raw_affiliation_strings":["Electrical Engineering Department, Universidade Federal da Bahia and Instituto Federal da Bahia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Universidade Federal da Bahia and Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789","https://openalex.org/I126158947"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110817816","display_name":"Joao Erivandro Soares","orcid":null},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]},{"id":"https://openalex.org/I41455075","display_name":"Universidade Federal de Campina Grande","ror":"https://ror.org/00eftnx64","country_code":"BR","type":"education","lineage":["https://openalex.org/I41455075"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Joao Erivandro Soares","raw_affiliation_strings":["Instituto Federal da Bahia, Brazil","Mechanical Engineering Department, Universidade Federal de Campina Grande, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Federal da Bahia, Brazil","institution_ids":["https://openalex.org/I130913789"]},{"raw_affiliation_string":"Mechanical Engineering Department, Universidade Federal de Campina Grande, Brazil","institution_ids":["https://openalex.org/I41455075"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5026696788"],"corresponding_institution_ids":["https://openalex.org/I130913789"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21935213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"162","last_page":"167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9973000288009644,"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/T12128","display_name":"AI in Service Interactions","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.8185171484947205},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6264415979385376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6192640066146851},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.5636019706726074},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5187433362007141},{"id":"https://openalex.org/keywords/reference-architecture","display_name":"Reference architecture","score":0.5016858577728271},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4875318706035614},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4334118366241455},{"id":"https://openalex.org/keywords/software-architecture-description","display_name":"Software architecture description","score":0.4194149971008301},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.41556161642074585},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3473098874092102},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09282121062278748},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.0837419331073761}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.8185171484947205},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6264415979385376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6192640066146851},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.5636019706726074},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5187433362007141},{"id":"https://openalex.org/C55356503","wikidata":"https://www.wikidata.org/wiki/Q2136675","display_name":"Reference architecture","level":4,"score":0.5016858577728271},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4875318706035614},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4334118366241455},{"id":"https://openalex.org/C73219336","wikidata":"https://www.wikidata.org/wiki/Q7554254","display_name":"Software architecture description","level":5,"score":0.4194149971008301},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.41556161642074585},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3473098874092102},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09282121062278748},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0837419331073761},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W321494399","https://openalex.org/W1534401054","https://openalex.org/W1577231857","https://openalex.org/W1800478330","https://openalex.org/W1992225177","https://openalex.org/W2030507413","https://openalex.org/W2056176166","https://openalex.org/W2072233629","https://openalex.org/W2099019320","https://openalex.org/W2151945436","https://openalex.org/W2165468899","https://openalex.org/W2169003662","https://openalex.org/W2271879077","https://openalex.org/W2901136733","https://openalex.org/W2902713935","https://openalex.org/W3016172384","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2017266164","https://openalex.org/W2053107757","https://openalex.org/W1552148294","https://openalex.org/W2354797847","https://openalex.org/W174255016","https://openalex.org/W2124684568","https://openalex.org/W1583260306","https://openalex.org/W1152672851","https://openalex.org/W2136317684","https://openalex.org/W217012190"],"abstract_inverted_index":{"Autonomous":[0],"wheelchairs":[1],"significantly":[2],"facilitate":[3],"the":[4,32,42,59,81,90,95,105,108,135,138,142,153,181,184,197,201,215,232,239],"routine":[5],"of":[6,20,24,66,70,80,83,94,107,129,137,141,156,167,170,183,217,228,241],"people":[7],"who":[8],"depend":[9],"on":[10],"this":[11,111,114,130,161,229],"equipment":[12],"to":[13,51,61,101,133,177],"get":[14],"around.":[15],"Therefore,":[16],"they":[17,36],"must":[18],"consist":[19],"algorithms":[21,49],"and":[22,26,39,48,64,92,238],"components":[23,47],"perception":[25],"control,":[27],"which":[28,97,212],"allow":[29],"interaction":[30],"with":[31,41,53],"external":[33],"environments":[34],"where":[35],"are":[37],"inserted":[38],"also":[40],"wheelchair":[43,60,143],"user.":[44],"However,":[45],"these":[46],"need":[50],"collaborate":[52],"each":[54],"other":[55],"in":[56,112,175,193,203,214,245],"order":[57,176],"for":[58,121,200,221],"function":[62],"properly,":[63],"because":[65],"this,":[67],"it":[68,99,146],"is":[69,75,132,231],"utmost":[71],"importance":[72],"that":[73,145,189],"there":[74],"an":[76,122,190,222],"architectural":[77],"development":[78,182],"stage":[79],"design":[82],"systems":[84,172,244],"like":[85],"this.":[86],"Software":[87],"architectures":[88],"realize":[89],"structure":[91],"organization":[93],"components,":[96],"makes":[98],"easier":[100],"make":[102],"decisions":[103],"regarding":[104],"distribution":[106],"system.":[109],"With":[110],"mind,":[113],"paper":[115],"describes":[116],"a":[117,206,218,246],"software":[118,164,208,247],"architecture":[119,131,165,191,209],"developed":[120],"autonomous":[123,171,242],"intelligent":[124,223],"wheelchair.":[125,224],"The":[126,225],"main":[127,226],"goal":[128],"enable":[134],"operation":[136],"robotic":[139],"system":[140,220],"so":[144],"can":[147],"navigate":[148],"independently,":[149],"taking":[150],"into":[151,180],"account":[152],"social":[154,236],"constraints":[155],"human":[157,235],"interaction.":[158],"To":[159],"achieve":[160],"purpose,":[162],"several":[163],"models":[166],"different":[168],"types":[169],"were":[173],"researched":[174],"integrate":[178],"them":[179],"project.":[185],"It":[186],"was":[187,210],"observed":[188],"arranged":[192],"layers":[194],"would":[195],"be":[196],"best":[198],"option":[199],"project":[202],"question.":[204],"Thus,":[205],"six-layered":[207],"developed,":[211],"resulted":[213],"implementation":[216],"multimodal":[219],"contribution":[227],"article":[230],"association":[233],"between":[234],"restrictions":[237],"functioning":[240],"service":[243],"architecture.":[248]},"counts_by_year":[],"updated_date":"2026-04-30T09:15:22.047038","created_date":"2025-10-10T00:00:00"}