{"id":"https://openalex.org/W3211647498","doi":"https://doi.org/10.3390/computers10110153","title":"Enhancing Robots Navigation in Internet of Things Indoor Systems","display_name":"Enhancing Robots Navigation in Internet of Things Indoor Systems","publication_year":2021,"publication_date":"2021-11-15","ids":{"openalex":"https://openalex.org/W3211647498","doi":"https://doi.org/10.3390/computers10110153","mag":"3211647498"},"language":"en","primary_location":{"id":"doi:10.3390/computers10110153","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computers10110153","pdf_url":"https://www.mdpi.com/2073-431X/10/11/153/pdf?version=1637570202","source":{"id":"https://openalex.org/S4210228075","display_name":"Computers","issn_l":"2073-431X","issn":["2073-431X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-431X/10/11/153/pdf?version=1637570202","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009036501","display_name":"Yahya Tashtoush","orcid":"https://orcid.org/0000-0002-4248-8732"},"institutions":[{"id":"https://openalex.org/I156983542","display_name":"Jordan University of Science and Technology","ror":"https://ror.org/03y8mtb59","country_code":"JO","type":"education","lineage":["https://openalex.org/I156983542"]}],"countries":["JO"],"is_corresponding":true,"raw_author_name":"Yahya Tashtoush","raw_affiliation_strings":["Computer Science Department, Jordan University of Science and Technology, Irbid 22110, Jordan"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Jordan University of Science and Technology, Irbid 22110, Jordan","institution_ids":["https://openalex.org/I156983542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051051160","display_name":"Israa Haj-Mahmoud","orcid":null},"institutions":[{"id":"https://openalex.org/I156983542","display_name":"Jordan University of Science and Technology","ror":"https://ror.org/03y8mtb59","country_code":"JO","type":"education","lineage":["https://openalex.org/I156983542"]}],"countries":["JO"],"is_corresponding":false,"raw_author_name":"Israa Haj-Mahmoud","raw_affiliation_strings":["Computer Science Department, Jordan University of Science and Technology, Irbid 22110, Jordan"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Jordan University of Science and Technology, Irbid 22110, Jordan","institution_ids":["https://openalex.org/I156983542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091723521","display_name":"Omar Darwish","orcid":"https://orcid.org/0000-0001-8346-7148"},"institutions":[{"id":"https://openalex.org/I138216421","display_name":"Eastern Michigan University","ror":"https://ror.org/02ehshm78","country_code":"US","type":"education","lineage":["https://openalex.org/I138216421"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Omar Darwish","raw_affiliation_strings":["Information Security and Applied Computing Department, Eastern Michigan University, Ypsilanti, MI 48197, USA"],"affiliations":[{"raw_affiliation_string":"Information Security and Applied Computing Department, Eastern Michigan University, Ypsilanti, MI 48197, USA","institution_ids":["https://openalex.org/I138216421"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052028161","display_name":"Majdi Maabreh","orcid":"https://orcid.org/0000-0003-4822-417X"},"institutions":[{"id":"https://openalex.org/I157392197","display_name":"Hashemite University","ror":"https://ror.org/04a1r5z94","country_code":"JO","type":"education","lineage":["https://openalex.org/I157392197"]}],"countries":["JO"],"is_corresponding":false,"raw_author_name":"Majdi Maabreh","raw_affiliation_strings":["Department of Information Technology, Faculty of Prince Al-Hussein Bin Abdallah II For Information Technology, The Hashemite University, P.O. Box 330127, Zarqa 13133, Jordan"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, Faculty of Prince Al-Hussein Bin Abdallah II For Information Technology, The Hashemite University, P.O. Box 330127, Zarqa 13133, Jordan","institution_ids":["https://openalex.org/I157392197"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018299454","display_name":"Belal Alsinglawi","orcid":"https://orcid.org/0000-0003-0316-3641"},"institutions":[{"id":"https://openalex.org/I63525965","display_name":"Western Sydney University","ror":"https://ror.org/03t52dk35","country_code":"AU","type":"education","lineage":["https://openalex.org/I63525965"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Belal Alsinglawi","raw_affiliation_strings":["Computer Data and Mathematical Sciences, Western Sydney University, Sydeney, NSW 2116, Australia"],"affiliations":[{"raw_affiliation_string":"Computer Data and Mathematical Sciences, Western Sydney University, Sydeney, NSW 2116, Australia","institution_ids":["https://openalex.org/I63525965"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073452486","display_name":"Mahmoud Elkhodr","orcid":"https://orcid.org/0000-0001-9904-7551"},"institutions":[{"id":"https://openalex.org/I74899385","display_name":"Central Queensland University","ror":"https://ror.org/023q4bk22","country_code":"AU","type":"education","lineage":["https://openalex.org/I74899385"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mahmoud Elkhodr","raw_affiliation_strings":["School of Engineering and Technology, Central Queensland University, Rockhampton, QLD 4701, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Technology, Central Queensland University, Rockhampton, QLD 4701, Australia","institution_ids":["https://openalex.org/I74899385"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054382683","display_name":"Nasser Alsaedi","orcid":null},"institutions":[{"id":"https://openalex.org/I23075662","display_name":"Taibah University","ror":"https://ror.org/01xv1nn60","country_code":"SA","type":"education","lineage":["https://openalex.org/I23075662"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Nasser Alsaedi","raw_affiliation_strings":["Computer Science Department, Taibah University, Medina 2003, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Taibah University, Medina 2003, Saudi Arabia","institution_ids":["https://openalex.org/I23075662"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5009036501","https://openalex.org/A5091723521"],"corresponding_institution_ids":["https://openalex.org/I138216421","https://openalex.org/I156983542"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.3843,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.6175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"10","issue":"11","first_page":"153","last_page":"153"},"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":0.9993000030517578,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9959999918937683,"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/maxima-and-minima","display_name":"Maxima and minima","score":0.8442602157592773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7564480304718018},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.7101556062698364},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6466253995895386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5889306664466858},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5794963836669922},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5265607833862305},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.4951459467411041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39859482645988464},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3566993772983551},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3288465738296509},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20887508988380432},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1838018298149109},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.13719919323921204},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09350883960723877},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09232664108276367}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8442602157592773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7564480304718018},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.7101556062698364},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6466253995895386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5889306664466858},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5794963836669922},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5265607833862305},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.4951459467411041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39859482645988464},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3566993772983551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3288465738296509},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20887508988380432},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1838018298149109},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.13719919323921204},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09350883960723877},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09232664108276367},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/computers10110153","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computers10110153","pdf_url":"https://www.mdpi.com/2073-431X/10/11/153/pdf?version=1637570202","source":{"id":"https://openalex.org/S4210228075","display_name":"Computers","issn_l":"2073-431X","issn":["2073-431X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f78bd42be9014e289445d947b44ad6ec","is_oa":true,"landing_page_url":"https://doaj.org/article/f78bd42be9014e289445d947b44ad6ec","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computers, Vol 10, Iss 11, p 153 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/computers10110153","is_oa":true,"landing_page_url":"https://doi.org/10.3390/computers10110153","pdf_url":"https://www.mdpi.com/2073-431X/10/11/153/pdf?version=1637570202","source":{"id":"https://openalex.org/S4210228075","display_name":"Computers","issn_l":"2073-431X","issn":["2073-431X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3211647498.pdf","grobid_xml":"https://content.openalex.org/works/W3211647498.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W82249856","https://openalex.org/W1572576946","https://openalex.org/W1983781183","https://openalex.org/W2074170297","https://openalex.org/W2079237493","https://openalex.org/W2086188557","https://openalex.org/W2098412395","https://openalex.org/W2111131151","https://openalex.org/W2125758402","https://openalex.org/W2129601601","https://openalex.org/W2130940433","https://openalex.org/W2133118325","https://openalex.org/W2163680768","https://openalex.org/W2896094202","https://openalex.org/W2968770299","https://openalex.org/W3000064423","https://openalex.org/W3001582110","https://openalex.org/W3004515481","https://openalex.org/W3007182367","https://openalex.org/W3007327890","https://openalex.org/W3008534066","https://openalex.org/W3012626870","https://openalex.org/W3018841033","https://openalex.org/W3024286124","https://openalex.org/W3080833149","https://openalex.org/W3089298066","https://openalex.org/W3093374227","https://openalex.org/W3097759188","https://openalex.org/W3111174667","https://openalex.org/W3119436879","https://openalex.org/W3126305458","https://openalex.org/W3126622223","https://openalex.org/W3131737772","https://openalex.org/W3157259474","https://openalex.org/W3166238888","https://openalex.org/W4205526744","https://openalex.org/W4236092128","https://openalex.org/W6678508347"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2760348722","https://openalex.org/W2783885583","https://openalex.org/W2120095724","https://openalex.org/W2368326437","https://openalex.org/W3201311488","https://openalex.org/W2031424614","https://openalex.org/W1521225173","https://openalex.org/W2281433634","https://openalex.org/W2095605744"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"an":[3,163],"effective":[4],"local":[5,41,100],"minima":[6,42,101],"detection":[7],"and":[8,27,57,125,176,231],"definition":[9],"algorithm":[10],"is":[11,95,209],"introduced":[12],"for":[13,205],"a":[14,92,173,189,200],"mobile":[15],"robot":[16,37,171,187],"navigating":[17],"through":[18],"unknown":[19],"static":[20],"environments.":[21,127],"Furthermore,":[22],"five":[23],"approaches":[24,63,114],"are":[25,234],"presented":[26],"compared":[28],"with":[29,172,188],"the":[30,36,40,68,74,81,89,99,105,112,132,137,145,158,170,185,197,203,206,216,237],"popular":[31],"approach":[32,180,191,208],"wall-following":[33,159,190,207],"to":[34,72,84,97,143,150,157,195,212,224],"pull":[35],"out":[38],"of":[39,109,136,165,226],"enclosure":[43],"namely;":[44],"Random":[45],"Virtual":[46,49],"Target,":[47,50],"Reflected":[48],"Global":[51],"Path":[52,55,59],"Backtracking,":[53,56],"Half":[54],"Local":[58],"Backtracking.":[60],"The":[61,128],"proposed":[62,113,138],"mainly":[64],"depend":[65],"on":[66,80,153],"changing":[67],"target":[69,179,219],"location":[70],"temporarily":[71],"avoid":[73,85],"original":[75],"target\u2019s":[76],"attraction":[77],"force":[78],"effect":[79],"robot.":[82],"Moreover,":[83],"getting":[86],"trapped":[87],"in":[88,117,236],"same":[90],"location,":[91],"virtual":[93,178,218],"obstacle":[94],"placed":[96],"cover":[98],"enclosure.":[102],"To":[103],"include":[104],"most":[106],"common":[107],"shapes":[108],"deadlock":[110],"situations,":[111],"were":[115],"evaluated":[116],"four":[118],"different":[119],"environments;":[120],"V-shaped,":[121],"double":[122],"U-shaped,":[123],"C-shaped,":[124],"cluttered":[126],"results":[129,230],"reveal":[130],"that":[131,227],"robot,":[133,202],"using":[134],"any":[135],"approaches,":[139],"requires":[140,162],"fewer":[141],"steps":[142],"reach":[144],"destination,":[146],"ranging":[147],"from":[148],"59":[149],"73":[151],"m":[152],"average,":[154,169],"as":[155],"opposed":[156],"strategy,":[160],"which":[161],"average":[164],"732":[166],"m.":[167],"On":[168],"constant":[174],"speed":[175],"reflected":[177,217],"takes":[181,192],"103":[182],"s,":[183,214],"whereas":[184],"identical":[186],"907":[193],"s":[194],"complete":[196],"tasks.":[198],"Using":[199],"fuzzy-speed":[201],"duration":[204],"greatly":[210],"reduced":[211],"507":[213],"while":[215],"may":[220],"only":[221],"need":[222],"up":[223],"20%":[225],"time.":[228],"More":[229],"detailed":[232],"comparisons":[233],"embedded":[235],"subsequent":[238],"sections.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}