{"id":"https://openalex.org/W2048261630","doi":"https://doi.org/10.1163/016918609x12586141083777","title":"Design and Implementation of a Novel Outdoor Road-Cleaning Robot","display_name":"Design and Implementation of a Novel Outdoor Road-Cleaning Robot","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2048261630","doi":"https://doi.org/10.1163/016918609x12586141083777","mag":"2048261630"},"language":"en","primary_location":{"id":"doi:10.1163/016918609x12586141083777","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918609x12586141083777","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5113549268","display_name":"Ming-Shaung Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Shaung Chang","raw_affiliation_strings":["a    Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101;, Email: n9892125@mail.ncku.edu.tw","Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101;, Email: n9892125@mail.ncku.edu.tw"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101;, Email: n9892125@mail.ncku.edu.tw","institution_ids":["https://openalex.org/I91807558"]},{"raw_affiliation_string":"Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101;, Email: n9892125@mail.ncku.edu.tw","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039054832","display_name":"Jung\u2010Hua Chou","orcid":"https://orcid.org/0000-0001-5924-9589"},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jung-Hua Chou","raw_affiliation_strings":["b    Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101","Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101","institution_ids":["https://openalex.org/I91807558"]},{"raw_affiliation_string":"Department of Engineering Science, National Cheng Kung University, Taiwan No. 1, University Road, Tainan, Taiwan 70101","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103773221","display_name":"Chun-Mu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I33374188","display_name":"Kao Yuan University","ror":"https://ror.org/04nk1k821","country_code":"TW","type":"education","lineage":["https://openalex.org/I33374188"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Mu Wu","raw_affiliation_strings":["c    Department of Mechanical and Automation Engineering, Kao Yuan University, Kaoshiung, Taiwan 82151","Department of Mechanical and Automation Engineering, Kao Yuan University, Kaoshiung, Taiwan 82151"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Department of Mechanical and Automation Engineering, Kao Yuan University, Kaoshiung, Taiwan 82151","institution_ids":["https://openalex.org/I33374188"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Kao Yuan University, Kaoshiung, Taiwan 82151","institution_ids":["https://openalex.org/I33374188"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6487,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75108564,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"24","issue":"1-2","first_page":"85","last_page":"101"},"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":0.9987999796867371,"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/T12597","display_name":"Fire Detection and Safety Systems","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/robot","display_name":"Robot","score":0.753375232219696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7478823661804199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6540296673774719},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6035964488983154},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5988490581512451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5726609230041504},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5279055237770081},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5059489607810974},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5039655566215515},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.47483712434768677},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4238690435886383},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08736485242843628}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.753375232219696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7478823661804199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6540296673774719},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6035964488983154},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5988490581512451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5726609230041504},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5279055237770081},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5059489607810974},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5039655566215515},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.47483712434768677},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4238690435886383},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08736485242843628},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918609x12586141083777","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918609x12586141083777","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5699999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310094","display_name":"University of Washington","ror":"https://ror.org/00cvxb145"},{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1493971218","https://openalex.org/W1543983621","https://openalex.org/W1559085828","https://openalex.org/W1595025511","https://openalex.org/W1966821103","https://openalex.org/W2030893306","https://openalex.org/W2043958835","https://openalex.org/W2099360303","https://openalex.org/W2099981874","https://openalex.org/W2107616111","https://openalex.org/W2108321334","https://openalex.org/W2114595091","https://openalex.org/W2117792026","https://openalex.org/W2138857156","https://openalex.org/W2150839555","https://openalex.org/W2154658342","https://openalex.org/W2162974035"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W2050548713"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,107],"clean":[3],"unknown":[4],"outdoor":[5,11,36,119,126],"environments,":[6],"we":[7],"devised":[8],"a":[9],"novel":[10],"cleaning":[12,25,33,60,105,111,120],"robot":[13,29,91,121],"using":[14],"mainly":[15],"on-board":[16],"vision-based":[17],"auto-navigation":[18],"in":[19,35,72,124],"this":[20],"paper.":[21],"The":[22,59,76,90,113],"track-driven":[23],"and":[24,49],"mechanisms":[26],"of":[27,103],"the":[28,66,73,82,87,96,101],"are":[30,54],"designed":[31],"for":[32,46,56],"tasks":[34],"rough":[37],"terrain.":[38],"A":[39],"single":[40],"image":[41,88],"sensing":[42],"module":[43],"is":[44,62,70,78],"exploited":[45],"clean-region":[47],"detection":[48],"three":[50],"ultrasonic":[51],"ranging":[52],"modules":[53],"used":[55],"obstacle":[57],"avoidance.":[58],"task":[61],"performed":[63],"autonomously":[64],"after":[65],"boustrophedon":[67],"path":[68],"planning":[69],"completed":[71],"grid-cell":[74],"map.":[75],"map":[77],"obtained":[79],"from":[80],"transforming":[81],"two-dimensional":[83],"images":[84],"captured":[85],"by":[86],"sensor.":[89],"also":[92],"self-localizes":[93],"based":[94],"on":[95],"deduced":[97],"boundary":[98],"lines":[99],"at":[100],"end":[102],"each":[104],"stage":[106],"continue":[108],"its":[109],"unfinished":[110],"work.":[112],"experimental":[114],"results":[115],"prove":[116],"that":[117],"our":[118],"performs":[122],"well":[123],"general":[125],"environments.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-10-10T00:00:00"}