{"id":"https://openalex.org/W2074831426","doi":"https://doi.org/10.1163/156855311x617515","title":"Coordination of Multiple Control Schemes for Mobile Robot Navigation on the Basis of the Generalized Stochastic Petri-Nets","display_name":"Coordination of Multiple Control Schemes for Mobile Robot Navigation on the Basis of the Generalized Stochastic Petri-Nets","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W2074831426","doi":"https://doi.org/10.1163/156855311x617515","mag":"2074831426"},"language":"en","primary_location":{"id":"doi:10.1163/156855311x617515","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x617515","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"],"host_organization_lineage_names":["Taylor & Francis"],"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/A5113570326","display_name":"Chang-bae Moon","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Chang-Bae Moon","raw_affiliation_strings":["a    School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea","a School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"a    School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"a School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084269901","display_name":"Woojin Chung","orcid":"https://orcid.org/0000-0002-5322-6615"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woojin Chung","raw_affiliation_strings":["b    School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea;, Email: smartrobot@korea.ac.kr","b School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea;, Email: smartrobot@korea.ac.kr"],"affiliations":[{"raw_affiliation_string":"b    School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea;, Email: smartrobot@korea.ac.kr","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"b School of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-Gu, 136-713 Seoul, South Korea;, Email: smartrobot@korea.ac.kr","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113570326"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1408622,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"5-6","first_page":"581","last_page":"603"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9894000291824341,"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":0.6630749702453613},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6063375473022461},{"id":"https://openalex.org/keywords/petri-net","display_name":"Petri net","score":0.5132460594177246},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.508176326751709},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4945485293865204},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46490252017974854},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4593925476074219},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4537052512168884},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4389404356479645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4303145110607147},{"id":"https://openalex.org/keywords/stochastic-petri-net","display_name":"Stochastic Petri net","score":0.41300496459007263},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34866398572921753},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.29887253046035767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21170061826705933},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19372424483299255}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6630749702453613},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6063375473022461},{"id":"https://openalex.org/C38677869","wikidata":"https://www.wikidata.org/wiki/Q724168","display_name":"Petri net","level":2,"score":0.5132460594177246},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.508176326751709},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4945485293865204},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46490252017974854},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4593925476074219},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4537052512168884},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4389404356479645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4303145110607147},{"id":"https://openalex.org/C197551870","wikidata":"https://www.wikidata.org/wiki/Q7617809","display_name":"Stochastic Petri net","level":3,"score":0.41300496459007263},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34866398572921753},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.29887253046035767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21170061826705933},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19372424483299255},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855311x617515","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855311x617515","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"],"host_organization_lineage_names":["Taylor & Francis"],"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":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1543378523","https://openalex.org/W1667165204","https://openalex.org/W1705997969","https://openalex.org/W1902086199","https://openalex.org/W1971654762","https://openalex.org/W2008518509","https://openalex.org/W2021323191","https://openalex.org/W2023806806","https://openalex.org/W2030078066","https://openalex.org/W2076784889","https://openalex.org/W2096751574","https://openalex.org/W2101889862","https://openalex.org/W2106378071","https://openalex.org/W2108967569","https://openalex.org/W2117211893","https://openalex.org/W2118741873","https://openalex.org/W2125409550","https://openalex.org/W2125949999","https://openalex.org/W2127416405","https://openalex.org/W2130610946","https://openalex.org/W2131257292","https://openalex.org/W2131505299","https://openalex.org/W2132756332","https://openalex.org/W2133066324","https://openalex.org/W2135320702","https://openalex.org/W2135974808","https://openalex.org/W2137284040","https://openalex.org/W2143324952","https://openalex.org/W2144396108","https://openalex.org/W2146079123","https://openalex.org/W2149736015","https://openalex.org/W2156963109","https://openalex.org/W2159866602","https://openalex.org/W2168952092","https://openalex.org/W2338205278","https://openalex.org/W2788567390","https://openalex.org/W4232383088","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W1543378523","https://openalex.org/W2916743419","https://openalex.org/W2381491984","https://openalex.org/W2257573499","https://openalex.org/W1980200158","https://openalex.org/W1513546254","https://openalex.org/W2148229336","https://openalex.org/W2091203523","https://openalex.org/W2125164140","https://openalex.org/W2121521078"],"abstract_inverted_index":{"There":[0,37],"have":[1,26],"been":[2],"two":[3,24,74,103],"major":[4,117],"streams":[5],"of":[6,12,41,48,52,102,108,119,127,135,141,177],"research":[7],"for":[8,78],"the":[9,23,35,46,83,89,92,99,106,109,125,128,133,139,172,186],"motion":[10,58,76,146],"control":[11,17,59],"mobile":[13,79],"robots:":[14],"model-based":[15],"deliberate":[16,84],"and":[18,29,88,153],"sensor-based":[19],"reactive":[20,93],"control.":[21],"Since":[22],"schemes":[25,60],"complementary":[27],"advantages":[28],"disadvantages,":[30],"each":[31],"cannot":[32],"completely":[33],"replace":[34],"other.":[36],"are":[38,61,169],"a":[39],"variety":[40],"environmental":[42],"conditions":[43],"that":[44,56,166],"affect":[45],"performance":[47,143,176],"navigation.":[49],"The":[50,116,175],"motivation":[51],"this":[53,70,120],"study":[54],"is":[55,82,91,122,164],"multiple":[57,136],"required":[62],"to":[63,123,185],"survive":[64],"in":[65,155,171],"dynamic":[66,94,156],"real":[67],"environments.":[68],"In":[69,161],"paper,":[71],"we":[72],"exploit":[73],"discrete":[75],"controllers":[77,104,137],"robots.":[80],"One":[81],"trajectory":[85],"tracking":[86],"controller":[87,130],"other":[90],"window":[95],"approach.":[96],"We":[97],"propose":[98],"selective":[100],"coordination":[101,134],"on":[105,132],"basis":[107],"generalized":[110],"stochastic":[111],"Petri":[112],"net":[113],"(GSPN)":[114],"framework.":[115],"scope":[118],"paper":[121],"clarify":[124],"advantage":[126],"proposed":[129],"based":[131],"from":[138],"results":[140],"quantitative":[142,149],"comparison":[144],"among":[145],"controllers.":[147],"For":[148],"comparison,":[150],"both":[151],"simulations":[152],"experiments":[154],"environments":[157],"were":[158],"carried":[159],"out.":[160],"addition,":[162],"it":[163],"shown":[165],"navigation":[167,178],"experiences":[168],"accumulated":[170],"GSPN":[173],"formalism.":[174],"service":[179],"can":[180],"be":[181],"significantly":[182],"improved":[183],"owing":[184],"automatically":[187],"stored":[188],"experiences.":[189]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
