{"id":"https://openalex.org/W3035091793","doi":"https://doi.org/10.1109/lra.2020.3003882","title":"Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories","display_name":"Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories","publication_year":2020,"publication_date":"2020-06-19","ids":{"openalex":"https://openalex.org/W3035091793","doi":"https://doi.org/10.1109/lra.2020.3003882","mag":"3035091793"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3003882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3003882","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.inria.fr/hal-02866446","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046230584","display_name":"Marco Cognetti","orcid":"https://orcid.org/0000-0003-4996-5914"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Marco Cognetti","raw_affiliation_strings":["Faculty of Information Technology and Electrical Engineering, University of Oulu - Center of Ubiquitous Computing, Oulu, Finland"],"raw_orcid":"https://orcid.org/0000-0003-4996-5914","affiliations":[{"raw_affiliation_string":"Faculty of Information Technology and Electrical Engineering, University of Oulu - Center of Ubiquitous Computing, Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074771551","display_name":"Marco Aggravi","orcid":"https://orcid.org/0000-0001-7911-426X"},"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/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marco Aggravi","raw_affiliation_strings":["CNRS, Inria, IRISA, Universit\u00e9 de Rennes, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0001-7911-426X","affiliations":[{"raw_affiliation_string":"CNRS, Inria, IRISA, Universit\u00e9 de Rennes, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"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/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["CNRS, Inria, IRISA, Universit\u00e9 de Rennes, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0002-8006-9168","affiliations":[{"raw_affiliation_string":"CNRS, Inria, IRISA, Universit\u00e9 de Rennes, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059131700","display_name":"Paolo Salaris","orcid":"https://orcid.org/0000-0003-1313-5898"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Salaris","raw_affiliation_strings":["Department of Information Engineering and the research Center \u201cE Piaggio\u201d, University of Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1313-5898","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and the research Center \u201cE Piaggio\u201d, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"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/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["CNRS, Inria, IRISA, Universit\u00e9 de Rennes, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0001-6919-7751","affiliations":[{"raw_affiliation_string":"CNRS, Inria, IRISA, Universit\u00e9 de Rennes, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7674,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83721523,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"3","first_page":"4711","last_page":"4718"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9975000023841858,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/computer-science","display_name":"Computer science","score":0.7481874227523804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6308983564376831},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5851101875305176},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5433233380317688},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5253493189811707},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5235604643821716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48742201924324036},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43021607398986816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36235442757606506},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3389197587966919},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12207019329071045}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7481874227523804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6308983564376831},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5851101875305176},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5433233380317688},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5253493189811707},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5235604643821716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48742201924324036},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43021607398986816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36235442757606506},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3389197587966919},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12207019329071045},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2020.3003882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3003882","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02866446v2","is_oa":true,"landing_page_url":"https://hal.inria.fr/hal-02866446","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":"ISSN: 2377-3766","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:HAL:hal-02951947v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-02951947","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2020, 5 (3), pp.4711-4718. ⟨10.1109/LRA.2020.3003882⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:arpi.unipi.it:11568/1049638","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/1049638","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:oulu.fi:nbnfi-fe2020081460410","is_oa":false,"landing_page_url":"http://urn.fi/urn:nbn:fi-fe2020081460410","pdf_url":null,"source":{"id":"https://openalex.org/S4306400284","display_name":"University of Oulu Repository (University of Oulu)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98381234","host_organization_name":"University of Oulu","host_organization_lineage":["https://openalex.org/I98381234"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02866446v2","is_oa":true,"landing_page_url":"https://hal.inria.fr/hal-02866446","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":"ISSN: 2377-3766","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2065297540","https://openalex.org/W2072763216","https://openalex.org/W2089748071","https://openalex.org/W2120328935","https://openalex.org/W2122710858","https://openalex.org/W2299529128","https://openalex.org/W2411858964","https://openalex.org/W2561257955","https://openalex.org/W2604427834","https://openalex.org/W2788901249","https://openalex.org/W2798813531","https://openalex.org/W2885529804","https://openalex.org/W2885564406","https://openalex.org/W2896715672","https://openalex.org/W2942100496","https://openalex.org/W2972296478","https://openalex.org/W3003598059"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2122871747","https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,165],"propose":[1],"a":[2,14,25,53,121],"novel":[3],"shared":[4],"control":[5,100],"and":[6],"active":[7],"perception":[8],"framework":[9,124,187],"combining":[10],"the":[11,22,31,35,59,65,73,76,82,85,89,96,101,105,108,131,134,140,144,157,167,176,180,184,191],"skills":[12],"of":[13,24,52,87,104,133,143,178,193],"human":[15,44,97,172],"operator":[16,45,98],"in":[17,28,120,156,170],"accomplishing":[18],"complex":[19],"tasks":[20],"with":[21,84,126,152],"capabilities":[23],"mobile":[26],"robot":[27,60,83,106],"autonomously":[29,110],"maximizing":[30,88],"information":[32,136,163,203],"acquired":[33,135],"by":[34,58,81,139],"onboard":[36],"sensors":[37],"for":[38],"improving":[39],"its":[40,112],"state":[41,113],"estimation.":[42,114],"The":[43,115,147],"modifies":[46],"at":[47],"runtime":[48],"some":[49],"suitable":[50],"properties":[51],"persistent":[54],"cyclic":[55],"path":[56,77],"followed":[57],"so":[61],"as":[62,188,190],"to":[63,99,200],"achieve":[64],"given":[66],"task":[67,103,122,185],"(e.g.,":[68],"explore":[69],"an":[70],"environment).":[71],"At":[72],"same":[74],"time,":[75],"is":[78,137,149],"concurrently":[79],"adjusted":[80],"aim":[86],"collected":[90],"information.":[91],"This":[92],"combined":[93],"behavior":[94],"enables":[95],"high-level":[102],"while":[107,130],"latter":[109],"improves":[111],"user's":[116],"commands":[117],"are":[118],"included":[119],"priority":[123,186],"together":[125],"other":[127],"relevant":[128],"constraints,":[129],"quality":[132],"measured":[138],"Shatten":[141],"norm":[142],"Constructibility":[145,181],"Gramian.":[146],"user":[148],"also":[150],"provided":[151],"guidance":[153],"feedback":[154,199],"pointing":[155],"direction":[158],"that":[159],"would":[160],"maximize":[161],"this":[162,202],"metric.":[164,204],"evaluated":[166],"proposed":[168],"approach":[169],"two":[171],"subject":[173],"studies,":[174],"testing":[175],"effectiveness":[177],"including":[179],"Gramian":[182],"into":[183],"well":[189],"viability":[192],"providing":[194],"either":[195],"visual":[196],"or":[197],"haptic":[198],"convey":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}