{"id":"https://openalex.org/W2149809146","doi":"https://doi.org/10.1109/riiss.2009.4937904","title":"Adaptive boundary-following algorithm guided by artificial potential field for robot navigation","display_name":"Adaptive boundary-following algorithm guided by artificial potential field for robot navigation","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2149809146","doi":"https://doi.org/10.1109/riiss.2009.4937904","mag":"2149809146"},"language":"en","primary_location":{"id":"doi:10.1109/riiss.2009.4937904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/riiss.2009.4937904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","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/A5062867731","display_name":"Samer Charifa","orcid":null},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samer Charifa","raw_affiliation_strings":["Department of Electrical Engineering, North Carolina Agriculture and Technical State University, Greensboro, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, North Carolina Agriculture and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091815113","display_name":"Marwan Bikdash","orcid":"https://orcid.org/0000-0002-7333-8227"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marwan Bikdash","raw_affiliation_strings":["Department of Electrical Engineering, North Carolina Agriculture and Technical State University, Greensboro, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, North Carolina Agriculture and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3139,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83571189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"38","last_page":"45"},"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":0.9979000091552734,"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/T12158","display_name":"Guidance and Control Systems","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.8007286787033081},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.7010339498519897},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6045635342597961},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.588058352470398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5576589703559875},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5442150235176086},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5361473560333252},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.513659656047821},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.47430968284606934},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41529756784439087},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.41486436128616333},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4144148528575897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3366687595844269},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33388763666152954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3278057277202606},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1284913718700409},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.11538311839103699},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08843272924423218}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8007286787033081},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.7010339498519897},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6045635342597961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.588058352470398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5576589703559875},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5442150235176086},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5361473560333252},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.513659656047821},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.47430968284606934},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41529756784439087},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.41486436128616333},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4144148528575897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3366687595844269},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33388763666152954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3278057277202606},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1284913718700409},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.11538311839103699},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08843272924423218},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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":1,"locations":[{"id":"doi:10.1109/riiss.2009.4937904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/riiss.2009.4937904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1557739567","https://openalex.org/W1844162177","https://openalex.org/W1965440866","https://openalex.org/W1975114110","https://openalex.org/W1997872704","https://openalex.org/W2015751084","https://openalex.org/W2051626883","https://openalex.org/W2072886839","https://openalex.org/W2083513815","https://openalex.org/W2101502731","https://openalex.org/W2103120971","https://openalex.org/W2108139268","https://openalex.org/W2108963891","https://openalex.org/W2119559506","https://openalex.org/W2124007829","https://openalex.org/W2128990851","https://openalex.org/W2136832785","https://openalex.org/W2140580886","https://openalex.org/W2144717132","https://openalex.org/W2150500908","https://openalex.org/W2153612202","https://openalex.org/W2159524963","https://openalex.org/W2162590955","https://openalex.org/W2163178194","https://openalex.org/W2170645371","https://openalex.org/W2502616869","https://openalex.org/W2611243847","https://openalex.org/W4242811155","https://openalex.org/W6676403399","https://openalex.org/W6681615092","https://openalex.org/W6683491825"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W1521225173","https://openalex.org/W1965569281","https://openalex.org/W4324119413","https://openalex.org/W2062919732","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2153809277","https://openalex.org/W2015961810","https://openalex.org/W2161428574"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,139],"novel":[3],"boundary-following":[4],"algorithm":[5,117],"that":[6,14,101],"works":[7],"in":[8,98],"conjunction":[9],"with":[10],"any":[11,30],"potential":[12,25,122,146],"function":[13],"is":[15,34,57,77,88,96,103,118],"guaranteed":[16],"to":[17,21,37,42,83,141,154],"take":[18],"the":[19,22,43,55,65,68,73,78,81,84,93,99,105,109,121,129,145,155,160],"robot":[20,66,82,130],"target.":[23],"The":[24,45,52,113,148,165],"field":[26,123],"must":[27],"not":[28,35],"have":[29],"local":[31],"minima":[32],"but":[33],"required":[36],"avoid":[38],"moving":[39],"too":[40],"closely":[41],"boundary.":[44],"proposed":[46,114,166],"method":[47,149,167],"has":[48,67],"several":[49],"advantages:":[50],"a)":[51],"calculation":[53],"of":[54,70,135,157,162],"C-space":[56],"avoided,":[58],"which":[59,76],"can":[60],"be":[61],"costly":[62],"especially":[63],"if":[64],"ability":[69],"rotation;":[71],"b)":[72],"safety":[74,110,173],"distance,":[75],"distance":[79,111],"from":[80,132],"closest":[85],"obstacles":[86],"boundary,":[87],"controllable":[89],"and":[90,175],"adaptive;":[91],"c)":[92],"resulting":[94],"path":[95],"quasi-optimal":[97],"sense":[100],"it":[102],"approximates":[104],"shortest":[106],"path,":[107],"given":[108],"constraints.":[112],"boundary":[115],"following":[116,138,144],"guided":[119],"by":[120],"at":[124],"critical":[125],"handoff":[126],"points":[127],"where":[128],"switches":[131],"one":[133],"mode":[134],"navigation":[136],"(e.g.,":[137,143],"wall)":[140],"another":[142],"field).":[147],"adjusts":[150],"its":[151],"behavior":[152],"according":[153],"degree":[156],"clutter,":[158],"i.e.":[159],"number":[161],"interacting":[163],"boundaries.":[164],"was":[168],"simulated":[169],"extensively":[170],"for":[171],"different":[172,176],"distances,":[174],"starting":[177],"points.":[178]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
