{"id":"https://openalex.org/W4206973280","doi":"https://doi.org/10.1109/tcds.2022.3145915","title":"Collision-Free Navigation in Human-Following Task Using a Cognitive Robotic System on Differential Drive Vehicles","display_name":"Collision-Free Navigation in Human-Following Task Using a Cognitive Robotic System on Differential Drive Vehicles","publication_year":2022,"publication_date":"2022-01-24","ids":{"openalex":"https://openalex.org/W4206973280","doi":"https://doi.org/10.1109/tcds.2022.3145915"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3145915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3145915","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-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/A5061684469","display_name":"Chien Van Dang","orcid":"https://orcid.org/0000-0001-9088-218X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Chien Van Dang","raw_affiliation_strings":["Division of Intelligent Robot, Convergence Research Institute, DGIST, Daegu, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-9088-218X","affiliations":[{"raw_affiliation_string":"Division of Intelligent Robot, Convergence Research Institute, DGIST, Daegu, Republic of Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048760986","display_name":"Heungju Ahn","orcid":"https://orcid.org/0000-0002-2491-1955"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heungju Ahn","raw_affiliation_strings":["College of Transdisciplinary, DGIST, Daegu, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-2491-1955","affiliations":[{"raw_affiliation_string":"College of Transdisciplinary, DGIST, Daegu, Republic of Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100767187","display_name":"Jong-Wook Kim","orcid":"https://orcid.org/0000-0002-1343-5404"},"institutions":[{"id":"https://openalex.org/I51226738","display_name":"Dong-A University","ror":"https://ror.org/03qvtpc38","country_code":"KR","type":"education","lineage":["https://openalex.org/I51226738"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Wook Kim","raw_affiliation_strings":["Department of Electronic Engineering, Dong-A University, Busan, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-1343-5404","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Dong-A University, Busan, Republic of Korea","institution_ids":["https://openalex.org/I51226738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035019823","display_name":"Sang Cheol Lee","orcid":"https://orcid.org/0000-0002-2613-8812"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang C. Lee","raw_affiliation_strings":["Division of Intelligent Robot, Convergence Research Institute, DGIST, Daegu, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-2613-8812","affiliations":[{"raw_affiliation_string":"Division of Intelligent Robot, Convergence Research Institute, DGIST, Daegu, Republic of Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061684469"],"corresponding_institution_ids":["https://openalex.org/I193352282"],"apc_list":null,"apc_paid":null,"fwci":2.3354,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.89572578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"15","issue":"1","first_page":"78","last_page":"87"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.7963487505912781},{"id":"https://openalex.org/keywords/soar","display_name":"Soar","score":0.6092508435249329},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6045291423797607},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5850430130958557},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5824010372161865},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5818619132041931},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5402713418006897},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4774925410747528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46134310960769653},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4522817134857178},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.44339069724082947},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.4430466294288635},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3753906786441803},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.3338089883327484},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.30923494696617126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12338900566101074},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07359611988067627}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7963487505912781},{"id":"https://openalex.org/C17305859","wikidata":"https://www.wikidata.org/wiki/Q382944","display_name":"Soar","level":2,"score":0.6092508435249329},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6045291423797607},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5850430130958557},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5824010372161865},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5818619132041931},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5402713418006897},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4774925410747528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46134310960769653},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4522817134857178},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.44339069724082947},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.4430466294288635},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3753906786441803},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.3338089883327484},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.30923494696617126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12338900566101074},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07359611988067627},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2022.3145915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3145915","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G33472069","display_name":null,"funder_award_id":"21-IT-03","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"},{"id":"https://openalex.org/G5367936034","display_name":null,"funder_award_id":"2021010090","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W419646410","https://openalex.org/W1578421573","https://openalex.org/W1978062600","https://openalex.org/W2066832919","https://openalex.org/W2096078692","https://openalex.org/W2096220440","https://openalex.org/W2105686579","https://openalex.org/W2115736701","https://openalex.org/W2117211893","https://openalex.org/W2124112066","https://openalex.org/W2131006455","https://openalex.org/W2131505299","https://openalex.org/W2142127280","https://openalex.org/W2150186269","https://openalex.org/W2158230879","https://openalex.org/W2169007512","https://openalex.org/W2178128015","https://openalex.org/W2197500937","https://openalex.org/W2538619708","https://openalex.org/W2576957768","https://openalex.org/W2588643148","https://openalex.org/W2762036057","https://openalex.org/W2787169641","https://openalex.org/W2883445328","https://openalex.org/W2883506091","https://openalex.org/W2888410494","https://openalex.org/W2911161776","https://openalex.org/W2967846306","https://openalex.org/W2981997809","https://openalex.org/W3022845750","https://openalex.org/W3082503137","https://openalex.org/W3102292622","https://openalex.org/W4296398509","https://openalex.org/W6679575465","https://openalex.org/W6736899903","https://openalex.org/W7044085393"],"related_works":["https://openalex.org/W2015887063","https://openalex.org/W2088096789","https://openalex.org/W2965672371","https://openalex.org/W2064048336","https://openalex.org/W2146661262","https://openalex.org/W1121847553","https://openalex.org/W2002952516","https://openalex.org/W972312834","https://openalex.org/W3151316732","https://openalex.org/W1606328238"],"abstract_inverted_index":{"As":[0],"human\u2013robot":[1],"collaboration":[2,17],"increases":[3],"tremendously":[4],"in":[5,27,39,180],"real-world":[6],"applications,":[7],"a":[8,20,28,48,61,86,119,152,164,188],"fully":[9],"autonomous":[10],"and":[11,24,51,103,113,118,135,163,198],"reliable":[12],"mobile":[13],"robot":[14,70,109,156,204],"for":[15,68,107,138],"the":[16,35,43,55,69,75,94,108,115,140,144,147,169,175,203,210],"has":[18,47],"been":[19],"central":[21],"research":[22],"topic":[23,41],"investigated":[25],"extensively":[26],"large":[29],"number":[30],"of":[31,34,85,146,177],"studies.":[32],"One":[33],"most":[36],"pressing":[37],"issues":[38],"such":[40],"is":[42,66,90,124],"collision-free":[44],"navigation":[45],"that":[46,190],"moving":[49,76],"goal":[50],"unknown":[52,196],"obstacles":[53,112,197],"under":[54],"unstructured":[56],"environment.":[57],"In":[58],"this":[59],"article,":[60],"cognitive":[62,87,96],"robotic":[63],"system":[64,179],"(CRS)":[65],"proposed":[67,148],"to":[71,74,98,110,131,173],"navigate":[72],"itself":[73],"target":[77,116],"person":[78],"without":[79],"obstacle":[80],"collision.":[81],"This":[82],"CRS":[83],"consists":[84],"agent,":[88],"which":[89,123],"created":[91],"based":[92,125],"on":[93,126],"Soar":[95],"architecture":[97],"reason":[99],"its":[100],"current":[101],"situation":[102],"make":[104],"action":[105],"decision":[106],"avoid":[111],"reach":[114],"position,":[117],"speed":[120],"planning":[121],"module,":[122],"dynamic":[127],"window":[128],"approach":[129],"(DWA)":[130],"generate":[132],"appropriate":[133],"linear":[134],"angular":[136],"velocities":[137],"driving":[139],"robot\u2019s":[141],"motors.":[142],"For":[143],"implementation":[145],"system,":[149],"we":[150,184],"use":[151],"differential":[153],"drive":[154],"wheel":[155],"equipped":[157],"with":[158,187],"two":[159],"ultrawideband":[160],"(UWB)":[161],"sensors":[162],"color":[165],"depth":[166],"camera":[167],"as":[168],"experimental":[170],"platform.":[171],"Finally,":[172],"evaluate":[174],"performance":[176],"our":[178],"actual":[181],"operating":[182],"conditions,":[183],"conduct":[185],"experiments":[186],"scenario":[189],"includes":[191],"main":[192],"tasks:":[193],"avoiding":[194],"consecutive":[195],"turning":[199],"at":[200],"corner":[201],"while":[202],"follows":[205],"continuously":[206],"human":[207],"user":[208],"along":[209],"corridor.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6}],"updated_date":"2026-05-14T08:36:36.166977","created_date":"2025-10-10T00:00:00"}