{"id":"https://openalex.org/W2033292156","doi":"https://doi.org/10.1145/2506095.2506113","title":"Robust Reactive Mobile Robot Navigation with Modified DWA+CG","display_name":"Robust Reactive Mobile Robot Navigation with Modified DWA+CG","publication_year":2013,"publication_date":"2013-07-04","ids":{"openalex":"https://openalex.org/W2033292156","doi":"https://doi.org/10.1145/2506095.2506113","mag":"2033292156"},"language":"en","primary_location":{"id":"doi:10.1145/2506095.2506113","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","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/A5089268712","display_name":"Asim Kar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091849","display_name":"Bhabha Atomic Research Center Hospital","ror":"https://ror.org/00chbca67","country_code":"IN","type":"healthcare","lineage":["https://openalex.org/I2799351866","https://openalex.org/I3149292468","https://openalex.org/I4210091849"]},{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Asim Kar","raw_affiliation_strings":["DRHR, BARC Mumbai, India","DRHR, BARC Mumbai, India#TAB#"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC Mumbai, India","institution_ids":["https://openalex.org/I4210091849"]},{"raw_affiliation_string":"DRHR, BARC Mumbai, India#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072180283","display_name":"M. Bandopadhyay","orcid":null},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]},{"id":"https://openalex.org/I4210091849","display_name":"Bhabha Atomic Research Center Hospital","ror":"https://ror.org/00chbca67","country_code":"IN","type":"healthcare","lineage":["https://openalex.org/I2799351866","https://openalex.org/I3149292468","https://openalex.org/I4210091849"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"M. Bandopadhyay","raw_affiliation_strings":["DRHR, BARC Mumbai, India","DRHR, BARC Mumbai, India#TAB#"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC Mumbai, India","institution_ids":["https://openalex.org/I4210091849"]},{"raw_affiliation_string":"DRHR, BARC Mumbai, India#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080132275","display_name":"D N Badodkar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091849","display_name":"Bhabha Atomic Research Center Hospital","ror":"https://ror.org/00chbca67","country_code":"IN","type":"healthcare","lineage":["https://openalex.org/I2799351866","https://openalex.org/I3149292468","https://openalex.org/I4210091849"]},{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"D. N. Badodkar","raw_affiliation_strings":["DRHR, BARC Mumbai, India","DRHR, BARC Mumbai, India#TAB#"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC Mumbai, India","institution_ids":["https://openalex.org/I4210091849"]},{"raw_affiliation_string":"DRHR, BARC Mumbai, India#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087876900","display_name":"Mukesh Singh","orcid":"https://orcid.org/0000-0002-0682-7039"},"institutions":[{"id":"https://openalex.org/I4210091849","display_name":"Bhabha Atomic Research Center Hospital","ror":"https://ror.org/00chbca67","country_code":"IN","type":"healthcare","lineage":["https://openalex.org/I2799351866","https://openalex.org/I3149292468","https://openalex.org/I4210091849"]},{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"M. Singh","raw_affiliation_strings":["DRHR, BARC Mumbai, India","DRHR, BARC Mumbai, India#TAB#"],"affiliations":[{"raw_affiliation_string":"DRHR, BARC Mumbai, India","institution_ids":["https://openalex.org/I4210091849"]},{"raw_affiliation_string":"DRHR, BARC Mumbai, India#TAB#","institution_ids":["https://openalex.org/I1329621470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089268712"],"corresponding_institution_ids":["https://openalex.org/I1329621470","https://openalex.org/I4210091849"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10481242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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":0.9944999814033508,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.8074315786361694},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7332717180252075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6978185176849365},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6820037364959717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6280601620674133},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5796418190002441},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4324776530265808},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.42894458770751953},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4289029836654663},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4272826015949249},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.41814714670181274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36879923939704895},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.29168379306793213},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.20838162302970886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10511690378189087}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8074315786361694},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7332717180252075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6978185176849365},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6820037364959717},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6280601620674133},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5796418190002441},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4324776530265808},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42894458770751953},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4289029836654663},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4272826015949249},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.41814714670181274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36879923939704895},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.29168379306793213},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.20838162302970886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10511690378189087},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2506095.2506113","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1964168945","https://openalex.org/W2010810606","https://openalex.org/W2042251315","https://openalex.org/W2060416901","https://openalex.org/W2069830673","https://openalex.org/W2074170297","https://openalex.org/W2104067547","https://openalex.org/W2104332709","https://openalex.org/W2107246263","https://openalex.org/W2109994478","https://openalex.org/W2113286054","https://openalex.org/W2114476723","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2127313464","https://openalex.org/W2131201219","https://openalex.org/W2131505299","https://openalex.org/W2138805713","https://openalex.org/W2165852544","https://openalex.org/W2171331791","https://openalex.org/W2177274602","https://openalex.org/W6676066859"],"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/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"A":[0],"robust":[1,109],"reactive":[2,23,102,110],"collision":[3],"avoidance":[4,91],"method":[5,65,111,155],"is":[6,62],"presented":[7],"taking":[8],"into":[9,92,147],"account":[10,85],"of":[11,19,46,56,59,72,86,127,132,134,143,152],"mobile":[12],"robot":[13,73,145],"kinematic":[14],"and":[15,66,89,114,129,162],"dynamic":[16,39],"constraints.":[17,40],"Many":[18],"the":[20,42,51,57,70,76,135,141,153],"earlier":[21,60],"standard":[22],"navigation":[24,34,48],"methods":[25,119],"provide":[26],"most":[27,43],"preferable":[28],"direction":[29],"as":[30],"a":[31,63,108],"solution":[32],"to":[33],"but":[35,95],"do":[36],"not":[37],"consider":[38],"Even,":[41],"recent":[44],"approach":[45],"gap-based":[47],"found":[49],"in":[50,68],"literature,":[52],"that":[53,124],"overcomes":[54],"many":[55],"shortcomings":[58],"methods,":[61],"directional":[64,148],"lacks":[67],"addressing":[69],"issue":[71],"dynamics.":[74],"On":[75],"other":[77],"hand,":[78],"Dynamic":[79],"Window":[80],"Approach":[81],"(DWA)":[82],"explicitly":[83],"takes":[84,125],"vehicle":[87],"dynamics":[88,146],"obstacle":[90],"its":[93],"design,":[94],"suffers":[96],"from":[97],"common":[98],"pitfalls":[99],"associated":[100],"with":[101,121,159],"methods.":[103,136,149],"Here,":[104],"we":[105,139],"propose":[106],"evolving":[107],"integrating":[112],"DWA":[113],"Closest":[115],"Gap":[116],"(CG)":[117],"based":[118],"together":[120],"minor":[122],"modification":[123],"advantages":[126],"both":[128,160],"eliminates":[130],"disadvantages":[131],"each":[133],"By":[137],"this,":[138],"address":[140],"problem":[142],"incorporating":[144],"The":[150],"effectiveness":[151],"proposed":[154],"will":[156],"be":[157],"demonstrated":[158],"simulated":[161],"experimental":[163],"results.":[164]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}