{"id":"https://openalex.org/W2146118428","doi":"https://doi.org/10.1109/roman.2009.5326074","title":"Real-time navigation for a personal mobility in an environment with pedestrians","display_name":"Real-time navigation for a personal mobility in an environment with pedestrians","publication_year":2009,"publication_date":"2009-09-01","ids":{"openalex":"https://openalex.org/W2146118428","doi":"https://doi.org/10.1109/roman.2009.5326074","mag":"2146118428"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2009.5326074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2009.5326074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","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/A5026606288","display_name":"Naotaka Hatao","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naotaka Hatao","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102871528","display_name":"Ryo Hanai","orcid":"https://orcid.org/0000-0003-4216-4866"},"institutions":[{"id":"https://openalex.org/I133557312","display_name":"Rikkyo University","ror":"https://ror.org/00x194q47","country_code":"JP","type":"education","lineage":["https://openalex.org/I133557312"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Hanai","raw_affiliation_strings":["Rikkyo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Rikkyo University, Tokyo, Japan","institution_ids":["https://openalex.org/I133557312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035229636","display_name":"Kimitoshi Yamazaki","orcid":"https://orcid.org/0000-0002-4096-3288"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kimitoshi Yamazaki","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026606288"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.9414,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.88262386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"619","last_page":"626"},"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":0.9997000098228455,"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":0.9961000084877014,"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/laptop","display_name":"Laptop","score":0.7612340450286865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7039894461631775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6999464631080627},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6551098227500916},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6103341579437256},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6055272817611694},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4989817142486572},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4632619023323059},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4517499804496765},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.45099684596061707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4312634766101837},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4254217743873596},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42168623208999634},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3640976548194885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06047651171684265}],"concepts":[{"id":"https://openalex.org/C2780008327","wikidata":"https://www.wikidata.org/wiki/Q3962","display_name":"Laptop","level":2,"score":0.7612340450286865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7039894461631775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6999464631080627},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6551098227500916},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6103341579437256},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6055272817611694},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4989817142486572},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4632619023323059},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4517499804496765},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.45099684596061707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4312634766101837},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4254217743873596},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42168623208999634},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3640976548194885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06047651171684265},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2009.5326074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2009.5326074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1539282749","https://openalex.org/W1656165940","https://openalex.org/W1973400989","https://openalex.org/W1990356248","https://openalex.org/W1991528596","https://openalex.org/W1996453410","https://openalex.org/W2036016432","https://openalex.org/W2049981393","https://openalex.org/W2099919002","https://openalex.org/W2103120971","https://openalex.org/W2112441941","https://openalex.org/W2117211893","https://openalex.org/W2125806710","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2156035746","https://openalex.org/W2336416123","https://openalex.org/W3145294510","https://openalex.org/W4242811155","https://openalex.org/W6676638597"],"related_works":["https://openalex.org/W2122735287","https://openalex.org/W2493438666","https://openalex.org/W2124341319","https://openalex.org/W2239658598","https://openalex.org/W2103853241","https://openalex.org/W2080635515","https://openalex.org/W2128792685","https://openalex.org/W2724299411","https://openalex.org/W2097767290","https://openalex.org/W1901524571"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,7,11,52,55],"navigation":[4],"system":[5,19,81],"in":[6,88],"dynamic":[8],"environment":[9],"for":[10],"two-wheeled":[12],"inverted":[13],"pendulum":[14],"mobile":[15],"robot,":[16,46],"PMR.":[17],"Our":[18],"is":[20,34],"organized":[21],"by":[22],"localization,":[23],"detection":[24],"and":[25,29,41,47],"tracking":[26],"of":[27,38,44,60],"pedestrians,":[28],"trajectory":[30,49],"planner.":[31],"The":[32],"localization":[33],"robust":[35],"to":[36,68,71,74],"effects":[37],"moving":[39],"obstacles":[40],"pitching":[42],"movements":[43,59],"the":[45,48,64,77],"planner":[50,65],"creates":[51],"path":[53],"with":[54],"certain":[56],"smoothness":[57],"considering":[58],"pedestrians.":[61],"In":[62],"addition,":[63],"introduces":[66],"strategies":[67],"avoid":[69],"pedestrians":[70,75],"be":[72],"friendly":[73],"around":[76],"robot.":[78],"Besides,":[79],"our":[80],"can":[82],"run":[83],"on":[84],"two":[85],"laptop":[86],"PCs":[87],"real":[89],"time.":[90],"Finally,":[91],"we":[92],"show":[93],"experimental":[94],"results":[95],"as":[96],"well.":[97]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
