{"id":"https://openalex.org/W2008368317","doi":"https://doi.org/10.1109/mmar.2014.6957434","title":"Mobile robots motion control in crowded environments using quasi-harmonic method","display_name":"Mobile robots motion control in crowded environments using quasi-harmonic method","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2008368317","doi":"https://doi.org/10.1109/mmar.2014.6957434","mag":"2008368317"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2014.6957434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5002948587","display_name":"D. Necsulescu","orcid":"https://orcid.org/0000-0003-4938-4511"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D. Necsulescu","raw_affiliation_strings":["Dept. of Mechanical Engineering, University of Ottawa Ottawa, Ontario, Canada","Department of Mechanical Engineering University of Ottawa Ottawa, Ontario Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, University of Ottawa Ottawa, Ontario, Canada","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Ottawa Ottawa, Ontario Canada","institution_ids":["https://openalex.org/I153718931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111639257","display_name":"gongzhe nie","orcid":null},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G. Nie","raw_affiliation_strings":["Dept. of Mechanical Engineering, University of Ottawa Ottawa, Ontario, Canada","Department of Mechanical Engineering University of Ottawa Ottawa, Ontario Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, University of Ottawa Ottawa, Ontario, Canada","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Ottawa Ottawa, Ontario Canada","institution_ids":["https://openalex.org/I153718931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045845692","display_name":"Jurek Z. S\u0105siadek","orcid":"https://orcid.org/0000-0003-0455-2745"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J. Sasiadek","raw_affiliation_strings":["Dept. of Mech. and Aero Eng., Carleton University Ottawa, Ontario, Canada","Dept. of Mech. and Aero Eng., Carleton University, Ottawa, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mech. and Aero Eng., Carleton University Ottawa, Ontario, Canada","institution_ids":["https://openalex.org/I67031392"]},{"raw_affiliation_string":"Dept. of Mech. and Aero Eng., Carleton University, Ottawa, Ontario, Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0818227,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"669","last_page":"674"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7798001766204834},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7361741065979004},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.6934228539466858},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.679643988609314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6711157560348511},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6312049627304077},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.62917560338974},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5409042239189148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5034739375114441},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46265727281570435},{"id":"https://openalex.org/keywords/harmonic-analysis","display_name":"Harmonic analysis","score":0.4198300838470459},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3613676428794861},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28014761209487915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.230422705411911},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2220718264579773},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1702079474925995},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.09153646230697632}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7798001766204834},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7361741065979004},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.6934228539466858},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.679643988609314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6711157560348511},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6312049627304077},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.62917560338974},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5409042239189148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5034739375114441},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46265727281570435},{"id":"https://openalex.org/C131770355","wikidata":"https://www.wikidata.org/wiki/Q876215","display_name":"Harmonic analysis","level":2,"score":0.4198300838470459},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3613676428794861},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28014761209487915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.230422705411911},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2220718264579773},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1702079474925995},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.09153646230697632},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2014.6957434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W155180224","https://openalex.org/W1700047562","https://openalex.org/W2053407718","https://openalex.org/W2056983835","https://openalex.org/W2124988009","https://openalex.org/W2125973284","https://openalex.org/W2136127679","https://openalex.org/W2138294092","https://openalex.org/W2151328602","https://openalex.org/W2153612202","https://openalex.org/W2157874600","https://openalex.org/W2476670814","https://openalex.org/W4247582681","https://openalex.org/W6664458826","https://openalex.org/W7061432167"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Mobile":[0],"robot":[1],"motion":[2,30],"control":[3,23],"with":[4],"collision":[5,51],"avoidance":[6,52],"is":[7],"investigated":[8],"in":[9,25,36],"this":[10,26],"paper":[11],"for":[12,50,61],"the":[13,47],"case":[14,27],"of":[15],"unknown":[16],"obstacles":[17],"which":[18],"are":[19],"locally":[20],"sensed.":[21],"Motion":[22],"achieves":[24],"a":[28,37,58,64],"reactive":[29],"using":[31],"velocity":[32],"potential":[33],"fields":[34],"approach":[35],"modified,":[38],"quasi-harmonic,":[39],"solution.":[40],"Analytical":[41],"solutions":[42],"and":[43],"simulations":[44],"show":[45],"how":[46],"harmonic":[48],"solution":[49,60],"can":[53],"be":[54],"separated":[55],"smoothly":[56],"from":[57],"non-harmonic":[59],"positioning":[62],"at":[63],"fixed":[65],"goal.":[66]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}