{"id":"https://openalex.org/W1515952175","doi":"https://doi.org/10.23919/ecc.2001.7076070","title":"Motion control of a mobile robot with adaption to the environment","display_name":"Motion control of a mobile robot with adaption to the environment","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W1515952175","doi":"https://doi.org/10.23919/ecc.2001.7076070","mag":"1515952175"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2001.7076070","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5061513171","display_name":"Jan Sparbert","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Sparbert","raw_affiliation_strings":["Department of Measurement, University of Ulm, Ulm, Germany","Dept. of Measurement, Control and Microtechnology, University of Ulm, D-89081 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measurement, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Dept. of Measurement, Control and Microtechnology, University of Ulm, D-89081 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057760156","display_name":"J. K\u00fcmpel","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Kumpel","raw_affiliation_strings":["Department of Measurement, University of Ulm, Ulm, Germany","Dept. of Measurement, Control and Microtechnology, University of Ulm, D-89081 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measurement, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Dept. of Measurement, Control and Microtechnology, University of Ulm, D-89081 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110096572","display_name":"Eberhard P. Hofer","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eberhard P. Hofer","raw_affiliation_strings":["Department of Measurement, University of Ulm, Ulm, Germany","Dept. of Measurement, Control and Microtechnology, University of Ulm, D-89081 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measurement, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Dept. of Measurement, Control and Microtechnology, University of Ulm, D-89081 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.04214653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1145","last_page":"1150"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980000257492065,"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/doors","display_name":"Doors","score":0.7977471947669983},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7784556150436401},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.7749469876289368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6954517364501953},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5881450176239014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5833375453948975},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.571771502494812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5707220435142517},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.47738832235336304},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.45354288816452026},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3765884339809418}],"concepts":[{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.7977471947669983},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7784556150436401},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7749469876289368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6954517364501953},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5881450176239014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5833375453948975},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.571771502494812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5707220435142517},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.47738832235336304},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.45354288816452026},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3765884339809418},{"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:10.23919/ecc.2001.7076070","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1494239778","https://openalex.org/W1509080298","https://openalex.org/W1510887900","https://openalex.org/W1528196625","https://openalex.org/W1559258345","https://openalex.org/W1566072771","https://openalex.org/W1986925124","https://openalex.org/W2117211893","https://openalex.org/W2165772133","https://openalex.org/W2167677130","https://openalex.org/W2335658462"],"related_works":["https://openalex.org/W2032014164","https://openalex.org/W900564457","https://openalex.org/W1988829703","https://openalex.org/W1978237579","https://openalex.org/W2165867432","https://openalex.org/W2008128129","https://openalex.org/W2599135645","https://openalex.org/W2039273766","https://openalex.org/W1638955375","https://openalex.org/W2097712274","https://openalex.org/W55617919","https://openalex.org/W758870321","https://openalex.org/W2971222084","https://openalex.org/W2039947369","https://openalex.org/W833717156","https://openalex.org/W1511683846","https://openalex.org/W2027314113","https://openalex.org/W2786966610","https://openalex.org/W2946115473","https://openalex.org/W2601486136"],"abstract_inverted_index":{"In":[0,53],"order":[1],"to":[2,19,22,40,45,138],"obtain":[3],"an":[4,46],"optimal":[5,47],"motion":[6,16,48,62],"of":[7,58,61,72,117,125,133,170],"a":[8,27,56,73,87,94,110,142,158],"mobile":[9],"robot":[10,128,165],"in":[11,49,130],"different":[12,176],"environmental":[13],"structures,":[14],"the":[15,23,33,50,59,99,127,131,134,164,175],"strategy":[17],"has":[18],"be":[20,41,149],"adapted":[21],"environment.":[24,35,52],"For":[25,90,106],"this,":[26],"classifier":[28,95],"is":[29,67,96,114,122,155,160],"needed":[30],"that":[31,43,162],"classifies":[32],"robots":[34],"Special":[36],"driving":[37,112],"methods":[38,177],"have":[39],"provided":[42],"lead":[44],"respective":[51],"this":[54],"paper,":[55],"survey":[57],"architecture":[60],"control":[63],"and":[64,77,86,104],"its":[65],"components":[66],"given.":[68],"The":[69,168],"sensor":[70,83],"data":[71,84],"laser":[74],"range":[75],"finder":[76],"sonar":[78],"sensors":[79],"are":[80,178],"preprocessed":[81],"by":[82],"fusion":[85],"growing":[88],"technique.":[89],"typical":[91],"office":[92],"environments,":[93],"suggested":[97],"for":[98,174],"classes":[100],"corridor,":[101],"wall,":[102],"room,":[103],"door.":[105],"each":[107],"environment":[108],"class,":[109],"special":[111],"method":[113,159],"described.":[115],"Inside":[116,124],"rooms":[118],"exact":[119],"path":[120],"following":[121,146],"performed.":[123],"corridors":[126],"drives":[129],"middle":[132],"corridor":[135],"or":[136],"parallel":[137],"one":[139,153],"wall":[140,154],"at":[141],"defined":[143],"distance.":[144],"Wall":[145],"can":[147],"also":[148],"performed,":[150],"if":[151],"only":[152],"detected.":[156],"Furthermore":[157],"presented":[161],"guides":[163],"through":[166],"doors.":[167],"results":[169],"some":[171],"test":[172],"runs":[173],"shown.":[179]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
