{"id":"https://openalex.org/W2149706232","doi":"https://doi.org/10.1109/robot.2009.5152460","title":"The Autonomous City Explorer project","display_name":"The Autonomous City Explorer project","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2149706232","doi":"https://doi.org/10.1109/robot.2009.5152460","mag":"2149706232"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152460","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5036999241","display_name":"Andrea Bauer","orcid":"https://orcid.org/0000-0002-4411-3088"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Andrea Bauer","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070961556","display_name":"Klaas Klasing","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaas Klasing","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101887212","display_name":"Tingting Xu","orcid":"https://orcid.org/0000-0002-4399-7379"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tingting Xu","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052275481","display_name":"Stefan Sosnowski","orcid":"https://orcid.org/0000-0001-5308-3733"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Sosnowski","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074207754","display_name":"Georgios Lidoris","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georgios Lidoris","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078523293","display_name":"Quirin M\u00fchlbauer","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Quirin Muhlbauer","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038607736","display_name":"Tinguang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tinguang Zhang","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087530464","display_name":"Florian Rohrm\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Rohrmuller","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056732510","display_name":"Kolja K\u00fchnlenz","orcid":"https://orcid.org/0000-0003-1511-9381"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kolja Kuhnlenz","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5036999241"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":27.1497,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.99067378,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"23","issue":null,"first_page":"1595","last_page":"1596"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9919000267982483,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6686102747917175},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6594424247741699},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6549181938171387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6250640153884888},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6145040392875671},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6018979549407959},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5047954320907593},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5020084381103516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47486114501953125},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.4246130585670471},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4019443094730377},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33106356859207153},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2535603642463684},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07472443580627441}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6686102747917175},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6594424247741699},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6549181938171387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6250640153884888},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6145040392875671},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6018979549407959},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5047954320907593},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5020084381103516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47486114501953125},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.4246130585670471},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4019443094730377},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33106356859207153},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2535603642463684},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07472443580627441},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152460","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.149.1471","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.1471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.lsr.ei.tum.de/fileadmin/publications/icra_video_final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W75724331","https://openalex.org/W1855113498","https://openalex.org/W1974931392","https://openalex.org/W2085025315","https://openalex.org/W2103548168","https://openalex.org/W2111675376","https://openalex.org/W2136556525","https://openalex.org/W2141936687","https://openalex.org/W2161873380","https://openalex.org/W2166817022","https://openalex.org/W2170903322","https://openalex.org/W4285719527","https://openalex.org/W6603026758"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2950854291","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399"],"abstract_inverted_index":{"This":[0,52],"video":[1,53],"presents":[2],"the":[3,23,55,71],"Autonomous":[4],"City":[5],"Explorer":[6],"(ACE)":[7],"project.":[8],"Its":[9],"goal":[10],"was":[11],"to":[12,35],"create":[13],"a":[14,46,74],"robot":[15,33],"capable":[16],"of":[17,25,49,73,77],"navigating":[18],"unknown":[19],"urban":[20,79,97],"environments":[21,98],"without":[22],"use":[24],"GPS":[26],"data":[27],"or":[28],"prior":[29],"map":[30],"knowledge.":[31],"The":[32],"had":[34],"find":[36],"its":[37,50],"way":[38],"solely":[39],"by":[40],"interacting":[41],"with":[42],"pedestrians":[43,67],"and":[44,93],"building":[45],"topological":[47,94],"representation":[48,76],"surroundings.":[51],"outlines":[54],"necessary":[56],"ingredients":[57],"for":[58,84],"successful":[59],"low-level":[60],"navigation":[61],"on":[62],"sidewalks,":[63],"information":[64],"retrieval":[65],"from":[66],"as":[68,70],"well":[69],"construction":[72],"semantic":[75],"an":[78],"environment.":[80],"A":[81],"system":[82],"architecture":[83],"outdoor":[85],"localization,":[86],"traversability":[87],"assessment,":[88],"path":[89],"planning,":[90],"behavior":[91],"selection":[92],"abstraction":[95],"in":[96],"is":[99],"presented.":[100]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}