{"id":"https://openalex.org/W2728663524","doi":"https://doi.org/10.1109/siu.2017.7960260","title":"Autonomous mobile robot exploration in negative obstacle environment","display_name":"Autonomous mobile robot exploration in negative obstacle environment","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2728663524","doi":"https://doi.org/10.1109/siu.2017.7960260","mag":"2728663524"},"language":"en","primary_location":{"id":"doi:10.1109/siu.2017.7960260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/siu.2017.7960260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 25th Signal Processing and Communications Applications Conference (SIU)","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/A5033516923","display_name":"Numan Keskin","orcid":null},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Numan Keskin","raw_affiliation_strings":["Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008200304","display_name":"Erkan Uslu","orcid":"https://orcid.org/0000-0002-6971-981X"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Erkan Uslu","raw_affiliation_strings":["Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017599307","display_name":"Furkan \u00c7akmak","orcid":"https://orcid.org/0000-0001-5232-7919"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Furkan Cakmak","raw_affiliation_strings":["Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075397604","display_name":"Nihal Altunta\u015f","orcid":"https://orcid.org/0000-0002-2690-1099"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Nihal Altuntas","raw_affiliation_strings":["Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080453744","display_name":"Mehmet Fatih Amasyal\u0131","orcid":"https://orcid.org/0000-0002-0404-5973"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"M. Fatih Amasyali","raw_affiliation_strings":["Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye","institution_ids":["https://openalex.org/I4101805"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063729630","display_name":"S\u0131rma Yavuz","orcid":"https://orcid.org/0000-0001-8029-6689"},"institutions":[{"id":"https://openalex.org/I4101805","display_name":"Y\u0131ld\u0131z Technical University","ror":"https://ror.org/0547yzj13","country_code":"TR","type":"education","lineage":["https://openalex.org/I4101805"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Sirma Yavuz","raw_affiliation_strings":["Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Bilgisayar M\u00fchendisli\u011fi B\u00f6l\u00fcm\u00fc, Y\u0131ld\u0131z Teknik \u00dcniversitesi, \u0130stanbul, T\u00fcrkiye","institution_ids":["https://openalex.org/I4101805"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5033516923"],"corresponding_institution_ids":["https://openalex.org/I4101805"],"apc_list":null,"apc_paid":null,"fwci":0.091,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.44532384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"1","last_page":"4"},"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/mobile-robot","display_name":"Mobile robot","score":0.8191545009613037},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8153446912765503},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7343214154243469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.659808337688446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6457067728042603},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6243754029273987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6139119267463684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5665884017944336},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12496483325958252}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8191545009613037},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8153446912765503},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7343214154243469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.659808337688446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6457067728042603},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6243754029273987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6139119267463684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5665884017944336},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12496483325958252},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/siu.2017.7960260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/siu.2017.7960260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 25th Signal Processing and Communications Applications Conference (SIU)","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":14,"referenced_works":["https://openalex.org/W1513090194","https://openalex.org/W1984645478","https://openalex.org/W2117211893","https://openalex.org/W2119927747","https://openalex.org/W2130422193","https://openalex.org/W2133844819","https://openalex.org/W2144564528","https://openalex.org/W2161940408","https://openalex.org/W2167340365","https://openalex.org/W2522576730","https://openalex.org/W2562628599","https://openalex.org/W2901136733","https://openalex.org/W6630842140","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"Restricted":[0],"3D":[1,25,42],"simultaneous":[2],"localization":[3],"and":[4,16,23,47,49],"mapping":[5,26],"(SLAM)":[6],"can":[7,29],"be":[8],"achived":[9],"in":[10,69,82,87],"an":[11,70],"environment":[12,85],"that":[13],"has":[14],"negative":[15,46,71],"positive":[17],"obstacles,":[18],"using":[19,94],"a":[20,24,35,83],"2D":[21,31,36],"SLAM":[22],"together.":[27],"Exploration":[28,55,91],"utilize":[30],"navigation,":[32],"which":[33],"uses":[34],"map":[37,43],"constructed":[38],"with":[39],"respect":[40],"to":[41,60,90],"obstacles":[44],"both":[45],"positive,":[48],"free":[50],"areas.":[51],"Robocup,":[52],"Rescue":[53],"League,":[54],"4":[56,92],"competition":[57],"is":[58,80],"designed":[59],"measure":[61],"real":[62],"platform":[63],"autonomous":[64],"mobile":[65],"robot":[66],"exploration":[67,78],"capabilities":[68],"obstacle":[72],"scene.":[73],"In":[74],"this":[75],"paper":[76],"aforementioned":[77],"approach":[79],"implemented":[81],"simulation":[84],"created":[86],"Gazebo":[88],"similar":[89],"arena,":[93],"Robot":[95],"Operating":[96],"System":[97],"(ROS).":[98]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
