{"id":"https://openalex.org/W3047181767","doi":"https://doi.org/10.1109/lra.2020.3013859","title":"Wide Area Exploration System Using Passive-Follower Robots Towed by Multiple Winches","display_name":"Wide Area Exploration System Using Passive-Follower Robots Towed by Multiple Winches","publication_year":2020,"publication_date":"2020-08-04","ids":{"openalex":"https://openalex.org/W3047181767","doi":"https://doi.org/10.1109/lra.2020.3013859","mag":"3047181767"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3013859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3013859","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053887460","display_name":"Jos\u00e9 Victorio Salazar Luces","orcid":"https://orcid.org/0000-0003-0556-9194"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jose Victorio Salazar Luces","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0556-9194","affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103201951","display_name":"Manami Hoshi","orcid":"https://orcid.org/0000-0002-4474-842X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Manami Hoshi","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4474-842X","affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066174551","display_name":"Yasuhisa Hirata","orcid":"https://orcid.org/0000-0002-5931-0471"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hirata","raw_affiliation_strings":["Department of Robotics, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5931-0471","affiliations":[{"raw_affiliation_string":"Department of Robotics, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.1473,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.39900939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"5","issue":"4","first_page":"6459","last_page":"6466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T13382","display_name":"Robotics and Automated Systems","score":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/winch","display_name":"Winch","score":0.9849148988723755},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7327905893325806},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5499475002288818},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5432714819908142},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4998321533203125},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48915818333625793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4289347529411316},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4180288016796112},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4015035629272461},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3551939129829407},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.350577712059021},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14481472969055176},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08290824294090271},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06856769323348999}],"concepts":[{"id":"https://openalex.org/C116168119","wikidata":"https://www.wikidata.org/wiki/Q258534","display_name":"Winch","level":2,"score":0.9849148988723755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7327905893325806},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5499475002288818},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5432714819908142},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4998321533203125},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48915818333625793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4289347529411316},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4180288016796112},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4015035629272461},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3551939129829407},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.350577712059021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14481472969055176},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08290824294090271},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06856769323348999},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3013859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3013859","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1625741820","https://openalex.org/W2006501180","https://openalex.org/W2023265378","https://openalex.org/W2039533720","https://openalex.org/W2066399143","https://openalex.org/W2092548498","https://openalex.org/W2108473618","https://openalex.org/W2126043438","https://openalex.org/W2147501455","https://openalex.org/W2169270819","https://openalex.org/W2240890113","https://openalex.org/W2419089233","https://openalex.org/W2511015524","https://openalex.org/W2565273161","https://openalex.org/W2587326379","https://openalex.org/W2793582886","https://openalex.org/W2891396054","https://openalex.org/W3044220272"],"related_works":["https://openalex.org/W4146550","https://openalex.org/W4077341","https://openalex.org/W4396493","https://openalex.org/W9077810","https://openalex.org/W3717142","https://openalex.org/W1381122","https://openalex.org/W9832734","https://openalex.org/W9649875","https://openalex.org/W10521669","https://openalex.org/W10051357"],"abstract_inverted_index":{"In":[0,113],"this":[1,114,214],"study,":[2],"we":[3,116,126,153,170],"propose":[4],"a":[5,24,83,192],"wide":[6],"area":[7,71],"exploration":[8,18,70],"system":[9,92,178,215],"that":[10,20,96],"consists":[11],"on":[12,87,198],"passive":[13],"wheeled":[14],"robots":[15,35,149],"equipped":[16],"with":[17,27],"sensors":[19],"are":[21,36,47,150],"pulled":[22,67],"from":[23,31,42],"high":[25],"position":[26,200],"wires":[28],"fed":[29],"out":[30],"two":[32],"winches.":[33,203],"The":[34],"driven":[37],"by":[38,51,216],"the":[39,43,60,63,69,75,79,94,119,122,128,132,139,143,147,155,166,176,181,188,199,202,211,218,221],"pulling":[40],"force":[41],"winches":[44,134],"and":[45,72,108,135,146,163,179,209],"they":[46],"able":[48],"to":[49,55,81,175],"steer":[50],"controlling":[52],"brakes":[53],"attached":[54],"their":[56],"wheels.":[57],"By":[58],"adjusting":[59],"wire":[61],"length,":[62],"passive-follower":[64,136,148,167,222],"robot":[65],"is":[66,98],"within":[68],"it":[73,97],"controls":[74],"braking":[76,157],"torque":[77],"of":[78,121,131,142,165,183,191,201,213,220],"wheels":[80],"follow":[82],"desired":[84],"trajectory":[85],"based":[86],"its":[88],"current":[89],"position.":[90],"This":[91],"has":[93],"advantage":[95],"effective":[99],"for":[100,160],"ground":[101],"exploration,":[102],"does":[103],"not":[104],"require":[105],"advanced":[106],"calibration,":[107],"can":[109],"be":[110],"installed":[111],"quickly.":[112],"letter,":[115],"first":[117],"explain":[118],"outline":[120],"proposed":[123,177],"system.":[124],"Then,":[125],"introduce":[127,154],"hardware":[129],"design":[130],"developed":[133],"robot.":[137,168,223],"Next,":[138],"control":[140,158,164,173],"method":[141],"winch":[144],"unit":[145],"described.":[151],"Here,":[152],"feasible":[156,189],"region":[159],"motion":[161],"analysis":[162],"Finally,":[169],"apply":[171],"these":[172],"methods":[174],"report":[180],"results":[182],"verification":[184],"experiments.":[185],"We":[186,204],"describe":[187],"range":[190],"follower":[193],"robot,":[194],"which":[195],"changes":[196],"depending":[197],"conducted":[205],"an":[206],"outdoor":[207],"experiment,":[208],"confirmed":[210],"effectiveness":[212],"evaluating":[217],"trajectories":[219]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
