{"id":"https://openalex.org/W2100163279","doi":"https://doi.org/10.1109/robot.2004.1308108","title":"An autonomous car-like robot navigating safely among pedestrians","display_name":"An autonomous car-like robot navigating safely among pedestrians","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2100163279","doi":"https://doi.org/10.1109/robot.2004.1308108","mag":"2100163279"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00182052","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045309524","display_name":"C\u00e9dric Pradalier","orcid":"https://orcid.org/0000-0002-1746-2733"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Pradalier","raw_affiliation_strings":["GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006028746","display_name":"Jorge Hermosillo","orcid":"https://orcid.org/0000-0001-9040-767X"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Hermosillo","raw_affiliation_strings":["GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051152808","display_name":"Carla Koike","orcid":"https://orcid.org/0000-0002-3641-1819"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Koike","raw_affiliation_strings":["GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031263485","display_name":"Christophe Braillon","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Braillon","raw_affiliation_strings":["GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053141872","display_name":"Pierre Bess\u00ec\u00e8re","orcid":"https://orcid.org/0000-0002-8620-2505"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Bessiere","raw_affiliation_strings":["GRAVIR - INRIA - INPG Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRAVIR - INRIA - INPG Grenoble, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109557660","display_name":"Christian Laugier","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Laugier","raw_affiliation_strings":["GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRAVIR - INRIA - INPG Grenoble, Saint Ismier, France","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8287,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75541036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1945","last_page":"1950 Vol.2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.993399977684021,"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/kinematics","display_name":"Kinematics","score":0.6994220614433289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6717538833618164},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.655079185962677},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6488299369812012},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6185115575790405},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5369190573692322},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5337608456611633},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5225769281387329},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5075830221176147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48241695761680603},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.46653276681900024},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43505868315696716},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41822439432144165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.404135137796402},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.376052588224411},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3379548490047455},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3250274658203125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.239383727312088},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.20949381589889526},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.19504594802856445}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6994220614433289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6717538833618164},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.655079185962677},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6488299369812012},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6185115575790405},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5369190573692322},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5337608456611633},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5225769281387329},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5075830221176147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48241695761680603},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.46653276681900024},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43505868315696716},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41822439432144165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.404135137796402},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.376052588224411},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3379548490047455},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3250274658203125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.239383727312088},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.20949381589889526},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.19504594802856445},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2004.1308108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.219.3554","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.219.3554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://emotion.inrialpes.fr/bibemotion/2004/PHKBBL04/PHKBBL04.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:inria-00182052v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00182052","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00182052v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00182052","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France","raw_type":"Conference papers"},"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W94742228","https://openalex.org/W1971044547","https://openalex.org/W1999050017","https://openalex.org/W2065297540","https://openalex.org/W2110397964","https://openalex.org/W2129161200","https://openalex.org/W2129517546","https://openalex.org/W2130913174","https://openalex.org/W2147366275","https://openalex.org/W2166345991","https://openalex.org/W2170129176","https://openalex.org/W2298028655","https://openalex.org/W2615334721","https://openalex.org/W4301360484","https://openalex.org/W6603762488","https://openalex.org/W6642962755","https://openalex.org/W6676577519","https://openalex.org/W6697615252","https://openalex.org/W6738375106","https://openalex.org/W6844972875"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713"],"abstract_inverted_index":{"The":[0],"recent":[1],"development":[2],"of":[3,7,36,53,76,92,99],"a":[4,13,31,51,83],"new":[5],"kind":[6,35],"public":[8],"transportation":[9],"system":[10],"relies":[11],"on":[12],"particular":[14],"double-steering":[15],"kinematic":[16],"structure":[17],"enhancing":[18],"maneuverability":[19],"in":[20],"cluttered":[21],"environments":[22],"such":[23],"as":[24],"downtown":[25],"areas.":[26],"We":[27,95],"call":[28],"bi-steerable":[29,43],"car":[30,44],"vehicle":[32],"showing":[33],"this":[34,70],"kinematics.":[37],"Endowed":[38],"with":[39],"autonomy":[40,80],"capacities,":[41],"the":[42,74,97,103,107],"ought":[45],"to":[46],"combine":[47],"suitably":[48],"and":[49,57,62,106],"safely":[50],"set":[52],"abilities:":[54],"simultaneous":[55],"localisation":[56],"environment":[58],"modelling,":[59],"motion":[60,63],"planning":[61],"execution":[64,91],"amidst":[65],"moderately":[66],"dynamic":[67],"obstacles.":[68],"In":[69],"paper":[71],"we":[72,87],"address":[73,96],"integration":[75],"these":[77],"four":[78],"essential":[79],"abilities":[81],"into":[82],"single":[84],"application.":[85],"Specifically,":[86],"aim":[88],"at":[89],"reactive":[90],"planned":[93],"motion.":[94],"fusion":[98],"controls":[100],"issued":[101],"from":[102],"control":[104],"law":[105],"obstacle":[108],"avoidance":[109],"module":[110],"using":[111],"probabilistic":[112],"techniques.":[113]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}