{"id":"https://openalex.org/W6961646490","doi":"https://doi.org/10.15167/tanveer-muhammad-hassan_phd2019-04-30","title":"An Approach for Multi-Robot Opportunistic Coexistence in Shared Space","display_name":"An Approach for Multi-Robot Opportunistic Coexistence in Shared Space","publication_year":2019,"publication_date":"2019-04-30","ids":{"openalex":"https://openalex.org/W6961646490","doi":"https://doi.org/10.15167/tanveer-muhammad-hassan_phd2019-04-30"},"language":"en","primary_location":{"id":"pmh:oai:iris.unige.it:11567/943326","is_oa":true,"landing_page_url":"http://hdl.handle.net/11567/943326","pdf_url":"http://hdl.handle.net/11567/943326","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/doctoralThesis"},"type":"dissertation","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11567/943326","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"TANVEER, MUHAMMAD HASSAN","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"TANVEER, MUHAMMAD HASSAN","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T11468","display_name":"Genetic Mapping and Diversity in Plants and Animals","score":0.43320000171661377,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11468","display_name":"Genetic Mapping and Diversity in Plants and Animals","score":0.43320000171661377,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10434","display_name":"Chromosomal and Genetic Variations","score":0.08619999885559082,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12045","display_name":"Rice Cultivation and Yield Improvement","score":0.06909999996423721,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6976000070571899},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5767999887466431},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5758000016212463},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49070000648498535},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.46209999918937683},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4456000030040741},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44119998812675476},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.42730000615119934}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6976000070571899},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5767999887466431},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5758000016212463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552299976348877},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49070000648498535},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.46209999918937683},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4456000030040741},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44119998812675476},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.42730000615119934},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38940000534057617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36970001459121704},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3301999866962433},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.31369999051094055},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.30550000071525574},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.29750001430511475},{"id":"https://openalex.org/C31173074","wikidata":"https://www.wikidata.org/wiki/Q2632514","display_name":"Attractiveness","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2669999897480011},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25929999351501465},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25870001316070557},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.25380000472068787}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:iris.unige.it:11567/943326","is_oa":true,"landing_page_url":"http://hdl.handle.net/11567/943326","pdf_url":"http://hdl.handle.net/11567/943326","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"doi:10.15167/tanveer-muhammad-hassan_phd2019-04-30","is_oa":true,"landing_page_url":"https://doi.org/10.15167/tanveer-muhammad-hassan_phd2019-04-30","pdf_url":null,"source":{"id":"https://openalex.org/S7407050993","display_name":"Universit\u00e0 degli Studi di Genova","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:iris.unige.it:11567/943326","is_oa":true,"landing_page_url":"http://hdl.handle.net/11567/943326","pdf_url":"http://hdl.handle.net/11567/943326","source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/doctoralThesis"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W6961646490.pdf","grobid_xml":"https://content.openalex.org/works/W6961646490.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"thesis":[1,164],"considers":[2],"a":[3,56,71,113,128,155,160,217,236,259,274,292,349,374,406,437,489,533],"situation":[4],"in":[5,10,44,146,221,297,314,327,345,379,384,488,518,549,554],"which":[6,245,433],"multiple":[7,482],"robots":[8,33,61,94,302,337,472,483],"operate":[9],"the":[11,15,28,32,147,150,167,195,200,208,211,232,256,262,266,284,307,321,341,346,354,380,385,402,411,420,430,443,449,453,463,467,470,510,541],"same":[12],"environment":[13],"towards":[14],"achievement":[16],"of":[17,210,242,258,261,283,291,294,309,323,348,356,410,448,469,529],"different":[18,40,438,486],"tasks.":[19,368],"In":[20],"this":[21,118,163,243,389],"situation,":[22],"please":[23],"consider":[24,273,436],"that":[25,152,230,252,422],"not":[26,97],"only":[27,98,502],"tasks,":[29],"but":[30,101],"also":[31,102],"themselves":[34],"are":[35,62,95,225,338,479],"likely":[36,63],"be":[37,65,75,214,279],"heterogeneous,":[38],"i.e.,":[39,499],"from":[41,121,359],"each":[42,364,494],"other":[43,365,495],"their":[45,105,360],"morphology,":[46],"dynamics,":[47],"sensors,":[48,498],"capabilities,":[49],"etc.":[50],"As":[51],"an":[52,188,333,391,474],"example,":[53],"think":[54],"about":[55],"\"smart":[57],"hotel\":":[58],"small":[59],"wheeled":[60,336,431,471,535],"to":[64,67,77,87,99,103,111,124,127,158,182,199,213,272,278,353,388,400,435],"devoted":[66,76],"cleaning":[68],"floors,":[69],"whereas":[70],"humanoid":[72,351],"robot":[73,197,263,310,546],"may":[74,119,153],"social":[78],"interaction,":[79],"e.g.,":[80,133],"welcoming":[81],"guests":[82],"and":[83,115,177,305,313,362,382,446,520,551],"providing":[84],"relevant":[85],"information":[86],"them":[88,110],"upon":[89],"request.":[90],"Under":[91],"these":[92],"conditions,":[93],"required":[96],"co-exist,":[100],"coordinate":[104],"activity":[106],"if":[107],"we":[108,331],"want":[109],"exhibit":[112],"coherent":[114],"effective":[116],"behavior:":[117],"range":[120],"mutual":[122,504],"avoidance":[123,179],"avoid":[125],"collisions,":[126],"more":[129,417],"explicit":[130],"coordinated":[131],"behavior,":[132],"task":[134],"assignment":[135],"or":[136],"cooperative":[137,325],"localization.":[138],"The":[139,203,240,281,413],"issues":[140],"above":[141,514],"have":[142,515],"been":[143,398,516],"deeply":[144],"investigated":[145],"Literature.":[148],"Among":[149],"topics":[151],"play":[154],"crucial":[156],"role":[157],"design":[159],"successful":[161],"system,":[162],"focuses":[165],"on":[166,207,265,503],"following":[168,176],"ones:":[169],"(i)":[170,532],"An":[171],"integrated":[172],"approach":[173,204,286,334,396],"for":[174,194,508],"path":[175,212],"obstacle":[178],"is":[180,205,251,287,415,425,460],"applied":[181],"unicycle":[183,534],"type":[184],"robots,":[185,432,530],"by":[186,289,303,419,458,466,492,500,522],"extending":[187],"existing":[189],"algorithm":[190],"[1]":[191],"initially":[192],"developed":[193,517],"single":[196],"case":[198],"multi-robot":[201,324],"domain.":[202],"based":[206],"definition":[209],"followed":[215],"as":[216,227],"curve":[218],"f":[219],"(x;y)":[220],"space,":[222,491],"while":[223,428],"obstacles":[224],"modeled":[226],"Gaussian":[228],"functions":[229],"modify":[231],"original":[233],"function,":[234],"generating":[235],"resulting":[237],"safe":[238],"path.":[239],"attractiveness":[241],"methodology":[244],"makes":[246],"it":[247,253,270],"look":[248],"very":[249],"simple,":[250],"neither":[254],"requires":[255,372,434],"computation":[257],"projection":[260],"position":[264,308,370,455],"path,":[267],"nor":[268],"does":[269],"need":[271],"moving":[275,426,484],"virtual":[276],"target":[277],"tracked.":[280],"performance":[282],"proposed":[285],"analyzed":[288],"means":[290],"series":[293],"experiments":[295,525],"performed":[296],"dynamic":[298,328],"environments":[299],"with":[300,462,481,526],"unicycle-type":[301],"integrating":[304],"determining":[306],"using":[311,340],"odometry":[312,468],"Motion":[315],"capturing":[316],"environment.":[317,412],"(ii)":[318,543],"We":[319],"investigate":[320],"problem":[322],"localization":[326],"environments.":[329],"Specifically,":[330],"propose":[332],"where":[335],"localized":[339],"monocular":[342],"camera":[343,450],"embedded":[344],"head":[347,424],"Pepper":[350,459,544],"robot,":[352],"end":[355],"minimizing":[357],"deviations":[358],"paths":[361,487],"avoiding":[363,493],"during":[366],"navigation":[367],"Indeed,":[369],"estimation":[371],"obtaining":[373],"linear":[375],"relationship":[376],"between":[377],"points":[378,383],"image":[381,404],"world":[386],"frame:":[387],"end,":[390],"Inverse":[392],"Perspective":[393],"mapping":[394],"(IPM)":[395],"has":[397],"adopted":[399],"transform":[401],"acquired":[403],"into":[405],"bird":[407],"eye":[408],"view":[409],"scenario":[414],"made":[416],"complex":[418],"fact":[421],"Pepper?s":[423],"dynamically":[427],"tracking":[429],"IPM":[439,454],"transformation":[440],"matrix":[441],"whenever":[442],"attitude":[444],"(Pitch":[445],"Yaw)":[447],"changes.":[451],"Finally,":[452],"estimate":[456,464],"returned":[457,465],"merged":[461],"through":[473],"Extened":[475],"Kalman":[476],"Filter.":[477],"Experiments":[478],"shown":[480],"along":[485],"shared":[490],"without":[496],"onboard":[497],"relying":[501],"positioning":[505],"information.":[506],"Software":[507],"implementing":[509],"theoretical":[511],"models":[512],"described":[513],"ROS,":[519],"validated":[521],"performing":[523],"real":[524],"two":[527],"types":[528],"namely:":[531],"Roomba":[536],"robot(commercially":[537],"available":[538,548],"all":[539],"over":[540],"world),":[542],"Humanoid":[545],"(commercially":[547],"Japan":[550],"B2B":[552],"model":[553],"Europe).":[555]},"counts_by_year":[],"updated_date":"2026-08-31T07:19:18.363097","created_date":"2025-10-10T00:00:00"}
