{"id":"https://openalex.org/W2588173492","doi":"https://doi.org/10.1109/ssci.2016.7850067","title":"Intention-based front-following control for an intelligent robotic rollator in indoor environments","display_name":"Intention-based front-following control for an intelligent robotic rollator in indoor environments","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2588173492","doi":"https://doi.org/10.1109/ssci.2016.7850067","mag":"2588173492"},"language":"en","primary_location":{"id":"doi:10.1109/ssci.2016.7850067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2016.7850067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5025117206","display_name":"George P. Moustris","orcid":"https://orcid.org/0000-0002-0454-0755"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"George P. Moustris","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075518884","display_name":"Costas S. Tzafestas","orcid":"https://orcid.org/0000-0003-1545-9191"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Costas S. Tzafestas","raw_affiliation_strings":["School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","School of Electrical and Computer Engineering, National Technical University of Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":0.2013,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.58740278,"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":"1","last_page":"7"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9958999752998352,"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/planner","display_name":"Planner","score":0.7205075025558472},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7018122673034668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6435704231262207},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5708099007606506},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.55116206407547},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4971154034137726},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4895973801612854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48802366852760315},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.48223742842674255},{"id":"https://openalex.org/keywords/undecidable-problem","display_name":"Undecidable problem","score":0.45604896545410156},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4501792788505554},{"id":"https://openalex.org/keywords/front","display_name":"Front (military)","score":0.4478434920310974},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.42423516511917114},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3992977738380432},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35924166440963745},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35870951414108276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1639903485774994},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1257210671901703},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10490542650222778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09987848997116089}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7205075025558472},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7018122673034668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6435704231262207},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5708099007606506},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.55116206407547},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4971154034137726},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4895973801612854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48802366852760315},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.48223742842674255},{"id":"https://openalex.org/C192034797","wikidata":"https://www.wikidata.org/wiki/Q3502995","display_name":"Undecidable problem","level":3,"score":0.45604896545410156},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4501792788505554},{"id":"https://openalex.org/C2777551076","wikidata":"https://www.wikidata.org/wiki/Q842332","display_name":"Front (military)","level":2,"score":0.4478434920310974},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.42423516511917114},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3992977738380432},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35924166440963745},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35870951414108276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1639903485774994},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1257210671901703},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10490542650222778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09987848997116089},{"id":"https://openalex.org/C153269930","wikidata":"https://www.wikidata.org/wiki/Q430001","display_name":"Decidability","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssci.2016.7850067","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssci.2016.7850067","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Symposium Series on Computational Intelligence (SSCI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"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":12,"referenced_works":["https://openalex.org/W1967199722","https://openalex.org/W2008185123","https://openalex.org/W2048903599","https://openalex.org/W2064849231","https://openalex.org/W2105595902","https://openalex.org/W2115855524","https://openalex.org/W2117211893","https://openalex.org/W2130307953","https://openalex.org/W2337461412","https://openalex.org/W2762941527","https://openalex.org/W6703633473","https://openalex.org/W6745024828"],"related_works":["https://openalex.org/W2120230527","https://openalex.org/W1536365843","https://openalex.org/W2125797022","https://openalex.org/W4288621333","https://openalex.org/W2911462610","https://openalex.org/W1999451828","https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W187779371"],"abstract_inverted_index":{"This":[0,20],"work":[1],"presents":[2],"an":[3,61],"intention-based":[4],"assistive":[5],"controller":[6],"for":[7],"allowing":[8],"a":[9,13,40,79],"robot":[10,68],"to":[11,65],"follow":[12],"human":[14,83],"while":[15],"moving":[16],"in":[17,25,36,78],"the":[18,67,70,86],"front.":[19],"task":[21],"is":[22,75],"particularly":[23],"challenging":[24],"indoor":[26],"environments,":[27],"as":[28],"there":[29],"are":[30,33,88],"situations":[31],"that":[32],"undecidable,":[34],"namely":[35],"junctions.":[37],"We":[38],"propose":[39],"novel":[41],"local":[42],"kinodynamic":[43],"planner":[44],"which":[45],"concurrently":[46],"detects":[47],"discrete":[48],"routes":[49],"and":[50,85],"continuous":[51],"motion":[52],"paths,":[53],"providing":[54],"path":[55],"equivalence":[56],"classes.":[57],"Furthermore,":[58],"we":[59],"detail":[60],"intention":[62],"recognition":[63],"algorithm":[64],"make":[66],"take":[69],"user-intended":[71],"turn.":[72],"Our":[73],"scheme":[74],"experimentally":[76],"tested":[77],"T-Junction":[80],"set-up":[81],"using":[82],"subjects,":[84],"results":[87],"discussed.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
