{"id":"https://openalex.org/W2143123986","doi":"https://doi.org/10.1109/mex.1987.5006533","title":"Mobile Robot Navigation: The CMU System","display_name":"Mobile Robot Navigation: The CMU System","publication_year":1987,"publication_date":"1987-01-01","ids":{"openalex":"https://openalex.org/W2143123986","doi":"https://doi.org/10.1109/mex.1987.5006533","mag":"2143123986"},"language":"en","primary_location":{"id":"doi:10.1109/mex.1987.5006533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mex.1987.5006533","pdf_url":null,"source":{"id":"https://openalex.org/S4210194503","display_name":"IEEE Expert","issn_l":"0885-9000","issn":["0885-9000","2374-9407"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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 Expert","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/A5046717567","display_name":"Yoshimasa Goto","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yoshimasa Goto","raw_affiliation_strings":["Carnegie Mellon University, USA","Computer Science Dept., Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15312-3890"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Computer Science Dept., Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15312-3890","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049281530","display_name":"Anthony Stentz","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Stentz","raw_affiliation_strings":["Carnegie Mellon University, USA","Computer Science Dept., Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15312-3890"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Computer Science Dept., Carnegie Mellon Univ., 5000 Forbes Ave., Pittsburgh, PA 15312-3890","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046717567"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.0547,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.95502714,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":"4","first_page":"44","last_page":"54"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/mobile-robot","display_name":"Mobile robot","score":0.7223715782165527},{"id":"https://openalex.org/keywords/synchronizing","display_name":"Synchronizing","score":0.5950208306312561},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5792911648750305},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5577250719070435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5523989200592041},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5440186858177185},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5165087580680847},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5100803971290588},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.46619975566864014},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45241567492485046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.442491352558136},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.42231547832489014},{"id":"https://openalex.org/keywords/systems-architecture","display_name":"Systems architecture","score":0.410230815410614},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35641759634017944},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.35487115383148193},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3317450284957886},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09539210796356201},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0809851884841919}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7223715782165527},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.5950208306312561},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5792911648750305},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5577250719070435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5523989200592041},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5440186858177185},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5165087580680847},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5100803971290588},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.46619975566864014},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45241567492485046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.442491352558136},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.42231547832489014},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.410230815410614},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35641759634017944},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.35487115383148193},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3317450284957886},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09539210796356201},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0809851884841919},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mex.1987.5006533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mex.1987.5006533","pdf_url":null,"source":{"id":"https://openalex.org/S4210194503","display_name":"IEEE Expert","issn_l":"0885-9000","issn":["0885-9000","2374-9407"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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 Expert","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.12.6489","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.12.6489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub3/goto_y_1987_1/goto_y_1987_1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6200000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W100724795","https://openalex.org/W217902876","https://openalex.org/W2056238234","https://openalex.org/W2094430142","https://openalex.org/W2101982712","https://openalex.org/W2150500908","https://openalex.org/W2156036475","https://openalex.org/W2160982455","https://openalex.org/W2163178194","https://openalex.org/W6604050056"],"related_works":["https://openalex.org/W2382313969","https://openalex.org/W2965558985","https://openalex.org/W2497892377","https://openalex.org/W2896858210","https://openalex.org/W2616297316","https://openalex.org/W2260064841","https://openalex.org/W2139926122","https://openalex.org/W2681895808","https://openalex.org/W2377333014","https://openalex.org/W2772261044"],"abstract_inverted_index":{"this":[0],"article":[1],"describes":[2],"the":[3,44,57,66,74],"current":[4],"status":[5],"of":[6,68,94,119,139],"autonomous":[7,89],"land":[8],"vehicle":[9,114],"(ALV)":[10],"research":[11],"at":[12,189],"F":[13],"Carnegie":[14,82],"Mellon":[15],"University&amp;apos;s":[16],"Robotics":[17],"tute.":[18],"We":[19],"will":[20],"(1)":[21],"discuss":[22],"issues":[23],"concerning":[24],"outdoor":[25,97],"navigation;":[26],"(2)":[27],"describe":[28],"our":[29,69],"system&amp;apos;s":[30],"perception,":[31],"plan-":[32],"ning,":[33],"and":[34,63,76,104,126,142,147,162,181,193],"control":[35],"components":[36,50],"that":[37,47,151],"address":[38],"these":[39,49],"issues;":[40],"(3)":[41],"examine":[42],"Codger,":[43],"software":[45],"system":[46,92,109,179,187],"integrates":[48],"into":[51],"a":[52,105,112,117,123,128,184],"single":[53],"system,":[54],"syn-":[55],"chronizing":[56],"dataflow":[58],"between":[59],"them":[60],"(thereby":[61],"parallelism);":[62],"(4)":[64],"present":[65],"results":[67],"experiments,":[70],"problems":[71],"uncovered":[72],"in":[73,96,167],"process,":[75],"plans":[77],"for":[78,144,159],"addressing":[79],"those":[80],"problems.":[81],"Mellon&amp;apos;s":[83],"ALV":[84],"group":[85],"has":[86],"created":[87],"an":[88,132],"mobile":[90,177],"robot":[91,113,153,170,178],"capable":[93],"operating":[95],"environments.":[98],"Using":[99],"two":[100,190,195],"sensors-a":[101],"color":[102],"camera":[103],"laser":[106],"range":[107],"finder-our":[108],"can":[110],"drive":[111],"continuously":[115],"on":[116,194],"network":[118],"side-":[120],"walks,":[121],"up":[122],"bicycle":[124],"slope,":[125],"over":[127],"curved":[129],"road":[130],"through":[131],"area":[133],"populated":[134],"with":[135],"trees.":[136],"The":[137],"complexity":[138],"real-world":[140],"domains":[141],"requirements":[143],"continu-":[145],"ous":[146],"real-time":[148],"motion":[149],"require":[150],"such":[152],"sys-":[154],"tems":[155],"provide":[156],"architectural":[157],"support":[158],"multiple":[160],"sensors":[161],"parallel":[163],"processing-capabilities":[164],"not":[165],"found":[166],"sim-":[168],"pler":[169],"systems.":[171],"At":[172],"CMU,":[173],"we":[174],"are":[175],"studying":[176],"architecture":[180],"have":[182],"developed":[183],"navi-":[185],"gation":[186],"working":[188],"test":[191],"sites":[192],"experimental":[196],"vehicles":[197]},"counts_by_year":[{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
