{"id":"https://openalex.org/W2768259166","doi":"https://doi.org/10.1109/iceee.2017.8108863","title":"Homotopic path validation using non-holonomic differential drive robot model","display_name":"Homotopic path validation using non-holonomic differential drive robot model","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2768259166","doi":"https://doi.org/10.1109/iceee.2017.8108863","mag":"2768259166"},"language":"en","primary_location":{"id":"doi:10.1109/iceee.2017.8108863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2017.8108863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","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/A5013071090","display_name":"G. Diaz-Arango","orcid":"https://orcid.org/0000-0002-8144-6615"},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"G. Diaz-Arango","raw_affiliation_strings":["INAOE Electronics Department, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"INAOE Electronics Department, Puebla, Mexico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016540565","display_name":"Hector Eduardo De Cos-Cholula","orcid":null},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Hector Eduardo De Cos-Cholula","raw_affiliation_strings":["INAOE Electronics Department, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"INAOE Electronics Department, Puebla, Mexico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021660565","display_name":"Luis Hern\u00e1ndez-Mart\u00ednez","orcid":"https://orcid.org/0000-0001-7178-7929"},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"L. Hernandez-Martinez","raw_affiliation_strings":["INAOE Electronics Department, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"INAOE Electronics Department, Puebla, Mexico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055378706","display_name":"Arturo Sarmiento-Reyes","orcid":"https://orcid.org/0000-0002-7619-4994"},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. Sarmiento-Reyes","raw_affiliation_strings":["INAOE Electronics Department, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"INAOE Electronics Department, Puebla, Mexico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004649966","display_name":"H\u00e9ctor V\u00e1zquez-Leal","orcid":"https://orcid.org/0000-0002-7785-5272"},"institutions":[{"id":"https://openalex.org/I147280213","display_name":"Universidad Veracruzana","ror":"https://ror.org/03efxn362","country_code":"MX","type":"education","lineage":["https://openalex.org/I147280213"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"H. Vazquez-Leal","raw_affiliation_strings":["Facultad de Instrumentacion Electronica, Universidad Veracruzana, Xalapa, Mexico"],"affiliations":[{"raw_affiliation_string":"Facultad de Instrumentacion Electronica, Universidad Veracruzana, Xalapa, Mexico","institution_ids":["https://openalex.org/I147280213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065403092","display_name":"F. P\u00e9rez-Zenteno","orcid":"https://orcid.org/0000-0002-6509-6010"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francisco Jose Perez-Zenteno","raw_affiliation_strings":["Ingenieria en Mecatronica, Universidad del Valle de M\u00c3l'xico, San Andres, Cholula, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"Ingenieria en Mecatronica, Universidad del Valle de M\u00c3l'xico, San Andres, Cholula, Puebla, Mexico","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037809504","display_name":"Dionisio Avila-Espinoza","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dionisio Avila-Espinoza","raw_affiliation_strings":["Ingenieria en Mecatronica, Universidad del Valle de M\u00c3l'xico, San Andres, Cholula, Puebla, Mexico"],"affiliations":[{"raw_affiliation_string":"Ingenieria en Mecatronica, Universidad del Valle de M\u00c3l'xico, San Andres, Cholula, Puebla, Mexico","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5013071090"],"corresponding_institution_ids":["https://openalex.org/I39824353"],"apc_list":null,"apc_paid":null,"fwci":0.091,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48257445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/holonomic","display_name":"Holonomic","score":0.8416908383369446},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7099816799163818},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7086853384971619},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6967427134513855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919607281684875},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5425035357475281},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5291324853897095},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4835464656352997},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45700088143348694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4553133249282837},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4400314390659332},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.420624703168869},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3544025421142578},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35115528106689453},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34323573112487793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18183133006095886},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15072306990623474},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08149313926696777}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8416908383369446},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7099816799163818},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7086853384971619},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6967427134513855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919607281684875},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5425035357475281},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5291324853897095},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4835464656352997},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45700088143348694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4553133249282837},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4400314390659332},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.420624703168869},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3544025421142578},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35115528106689453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34323573112487793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18183133006095886},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15072306990623474},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08149313926696777},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iceee.2017.8108863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2017.8108863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1486528248","https://openalex.org/W2017085520","https://openalex.org/W2028983002","https://openalex.org/W2029279869","https://openalex.org/W2106473816","https://openalex.org/W2120179083","https://openalex.org/W2511577593","https://openalex.org/W2529642887","https://openalex.org/W2559702649","https://openalex.org/W2563394581","https://openalex.org/W2593792304","https://openalex.org/W6678081342"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2055233249","https://openalex.org/W2943251607","https://openalex.org/W2077643751","https://openalex.org/W963545523","https://openalex.org/W178419168","https://openalex.org/W3129234473","https://openalex.org/W2009470295","https://openalex.org/W4299315487","https://openalex.org/W4386597929"],"abstract_inverted_index":{"In":[0],"this":[1,34],"paper":[2],"the":[3,31,51,68,75,78,100,122],"tracking":[4,104],"of":[5,20,33,53,62,77],"collision-free":[6],"path":[7,41,55],"obtained":[8],"by":[9,82,109],"using":[10,83,110,117],"Homotopic":[11],"Path":[12],"Planning":[13],"Method":[14],"(HPPM)":[15],"with":[16,44,58],"automatic":[17,59],"value":[18,60],"assignation":[19,61],"repulsion":[21,63],"parameter":[22,64],"is":[23,27,71,80,125],"presented.":[24],"This":[25],"work":[26],"center":[28],"on":[29,47,105,115],"show":[30],"utility":[32],"method":[35,57],"to":[36,98],"obtain":[37],"a":[38,103,118],"collision":[39],"free":[40],"for":[42],"maps":[43],"narrow":[45,89],"corridors":[46],"indoor":[48],"environments.":[49],"First,":[50],"basis":[52],"homotopic":[54],"planning":[56],"are":[65],"explained.":[66,73],"Second,":[67],"Pure-Pursuit":[69,119],"controller":[70,120],"brief":[72],"Third,":[74],"capability":[76],"HPPM":[79],"shown":[81],"two":[84],"experiments":[85],"that":[86],"which":[87],"contain":[88],"passages":[90],"and":[91,114],"several":[92],"circular":[93],"obstacles.":[94],"Finally,":[95],"in":[96],"order":[97],"validate":[99],"solution":[101],"paths,":[102],"Robot":[106],"Operating":[107],"System":[108],"3P-DX":[111],"robot":[112],"model":[113],"MATLAB":[116],"from":[121],"Robotics":[123],"Toolbox":[124],"performed.":[126]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
