{"id":"https://openalex.org/W4317796332","doi":"https://doi.org/10.1109/lra.2023.3238891","title":"Overworld: Assessing the Geometry of the World for Human-Robot Interaction","display_name":"Overworld: Assessing the Geometry of the World for Human-Robot Interaction","publication_year":2023,"publication_date":"2023-01-23","ids":{"openalex":"https://openalex.org/W4317796332","doi":"https://doi.org/10.1109/lra.2023.3238891"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3238891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238891","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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.science/hal-04037386v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083449055","display_name":"Guillaume Sarthou","orcid":"https://orcid.org/0000-0002-4438-2763"},"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/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Guillaume Sarthou","raw_affiliation_strings":["LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0002-4438-2763","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5083449055"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":1.1481,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.81731139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"8","issue":"3","first_page":"1874","last_page":"1880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/robot","display_name":"Robot","score":0.6505678296089172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6466807723045349},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6435467600822449},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.618633508682251},{"id":"https://openalex.org/keywords/ontology","display_name":"Ontology","score":0.5635822415351868},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5599159002304077},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5330836772918701},{"id":"https://openalex.org/keywords/coherence","display_name":"Coherence (philosophical gambling strategy)","score":0.5135767459869385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5081329345703125},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5020112991333008},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4556886851787567},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.41611966490745544},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1067706048488617},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10337120294570923},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09442239999771118}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6505678296089172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6466807723045349},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6435467600822449},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.618633508682251},{"id":"https://openalex.org/C25810664","wikidata":"https://www.wikidata.org/wiki/Q44325","display_name":"Ontology","level":2,"score":0.5635822415351868},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5599159002304077},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5330836772918701},{"id":"https://openalex.org/C2781181686","wikidata":"https://www.wikidata.org/wiki/Q4226068","display_name":"Coherence (philosophical gambling strategy)","level":2,"score":0.5135767459869385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5081329345703125},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5020112991333008},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4556886851787567},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.41611966490745544},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1067706048488617},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10337120294570923},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09442239999771118},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3238891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238891","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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-04037386v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04037386","pdf_url":"https://hal.science/hal-04037386v1/document","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":"https://ieeexplore.ieee.org/document/10024303","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04037386v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04037386","pdf_url":"https://hal.science/hal-04037386v1/document","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":"https://ieeexplore.ieee.org/document/10024303","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G6176599885","display_name":"Structured, Consolidated and Unified Interactive Dialogue for Robot Task Performance","funder_award_id":"ANR-21-ASIA-0005","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317796332.pdf","grobid_xml":"https://content.openalex.org/works/W4317796332.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1496347916","https://openalex.org/W1527068743","https://openalex.org/W1598586539","https://openalex.org/W2020456813","https://openalex.org/W2042292110","https://openalex.org/W2050755999","https://openalex.org/W2057401894","https://openalex.org/W2059543208","https://openalex.org/W2093410327","https://openalex.org/W2150544450","https://openalex.org/W2167150807","https://openalex.org/W2264155890","https://openalex.org/W2281797375","https://openalex.org/W2482333547","https://openalex.org/W2595770358","https://openalex.org/W2783894900","https://openalex.org/W2910766642","https://openalex.org/W2972699925","https://openalex.org/W3003953827","https://openalex.org/W3080814510","https://openalex.org/W3090097832","https://openalex.org/W3193868605","https://openalex.org/W3203444587","https://openalex.org/W4210960888","https://openalex.org/W4245497966","https://openalex.org/W4298112268","https://openalex.org/W4299648503","https://openalex.org/W6629772481","https://openalex.org/W6676989110","https://openalex.org/W6734516986","https://openalex.org/W6802235017","https://openalex.org/W7058266407"],"related_works":["https://openalex.org/W2003333417","https://openalex.org/W2378862226","https://openalex.org/W118236634","https://openalex.org/W2355326633","https://openalex.org/W2804669904","https://openalex.org/W2149777447","https://openalex.org/W2347456287","https://openalex.org/W2121651557","https://openalex.org/W2782969047","https://openalex.org/W2759030965"],"abstract_inverted_index":{"For":[0],"a":[1,8,11,63,74,84,111,138,159,164],"robot":[2,97],"to":[3,15,52,109,123,125,137,162],"interact":[4],"with":[5,141],"humans":[6],"in":[7,19,30,55,78,149],"given":[9],"environment,":[10],"key":[12,71],"need":[13],"is":[14,41,49,156],"understand":[16],"its":[17],"environment":[18],"terms":[20],"of":[21,37,73,76,87,93,95,129,158],"the":[22,26,33,44,70,79,88,91,96,120,127,130,150],"objects":[23],"composing":[24],"it,":[25,31],"other":[27],"agents":[28],"acting":[29],"and":[32,48,66,105,167],"relations":[34],"between":[35],"all":[36],"them.":[38],"This":[39,154],"capability":[40],"often":[42],"called":[43],"geometrical":[45],"situation":[46],"assessment":[47],"mainly":[50],"related":[51],"spatial":[53],"reasoning":[54,106],"time.":[56],"In":[57],"this":[58],"letter,":[59],"we":[60],"present":[61],"Overworld,":[62],"novel":[64],"lightweight":[65],"open-source":[67],"framework,":[68,144],"merging":[69],"features":[72],"decade":[75],"research":[77],"domain.":[80],"It":[81],"permanently":[82],"maintains":[83],"geometric":[85],"state":[86,128],"world":[89,131],"from":[90,102,132],"point":[92],"view":[94],"by":[98,118],"aggregating":[99],"perceptual":[100],"information":[101],"several":[103],"sources":[104],"on":[107],"them":[108],"create":[110],"coherent":[112],"world.":[113],"Furthermore,":[114],"Overworld":[115],"implements":[116],"perspective-taking":[117],"emulating":[119],"humans'":[121],"ability":[122],"perceive":[124],"estimate":[126],"their":[133],"perspective.":[134],"Finally,":[135],"thanks":[136],"strong":[139],"link":[140],"an":[142],"ontology":[143],"it":[145],"ensures":[146],"knowledge":[147],"coherence":[148],"whole":[151],"robotic":[152,170],"architecture.":[153],"work":[155],"part":[157],"broader":[160],"effort":[161],"develop":[163],"complete,":[165],"stable,":[166],"shareable":[168],"decisional":[169],"architecture":[171],"for":[172],"Human-Robot":[173],"Interaction.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-05T09:01:59.212387","created_date":"2025-10-10T00:00:00"}
