{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:11:22Z","timestamp":1761487882660,"version":"3.33.0"},"reference-count":15,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Motion planning for mobile robots has been an active area of research in recent years. One reason for this is the increasing importance of applications that take place in unstructured and time\u2010varying environments\u2014such as outdoor waste management or delivery of food and medicines in a hospital. One of the main difficulties in automating such tasks is combining on\u2010line sensing with \u201con the fly\u201d intelligent motion planning. On the other hand, the theoretical work in this area has matured enough to warrant active hardware and experimentation work. Discussed below is an attempt to implement a class of strategies for motion planning with incomplete information. We address the following experimental issues: the robot's ability to cope with limited information available from typical sensors while operating in a cluttered environment with unknown obstacles; handling the registration problem to assess the robot's current location; performing necessary data processing and planning fast enough to assure acceptable motion speeds; and handling situations that require the robot to make loops, retreat, and visit some areas of its path more than once. The results are encouraging; they indicate the feasibility of practical systems capable of operating in a highly complex uncertain environment. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110405","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:50:49Z","timestamp":1183733449000},"page":"281-300","source":"Crossref","is-referenced-by-count":20,"title":["Experiments with a mobile robot operating in a cluttered unknown environment"],"prefix":"10.1002","volume":"11","author":[{"given":"T.","family":"Skewis","sequence":"first","affiliation":[]},{"given":"V.","family":"Lumelsky","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"1","volume-title":"Handling real\u2010world motion planning: A hospital transport robot","author":"Skewis T.","year":"1992"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.59969"},{"issue":"4","key":"e_1_2_1_4_2","first-page":"153","article-title":"Simulation of sensor\u2010based robot and human motion planning,","volume":"8","author":"Skewis T.","year":"1993","journal-title":"International Journal of Robotics and Automation"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087002"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"J.Crowley \u201cRepresentation and maintenance of a composite surface model \u201d Proceedings of the 1986 IEEE International Conference on Robotics and Automation San Francisco CA 1986 pp.1455\u20131462.","DOI":"10.1109\/ROBOT.1986.1087487"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"J.Crowley \u201cWorld modeling and position estimation for a mobile robot using ultrasonic ranging \u201d Proceedings of the 1989 IEEE International Conference on Robotics and Automation Scottsdale AZ 1989 pp.674\u2013681.","DOI":"10.1109\/ROBOT.1989.100062"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"R.ChatilaandJ.Laumond \u201cPosition referencing and consistent world modeling for mobile robots \u201d Proceedings of the 1985 IEEE International Conference on Robotics and Automation St. Louis MO 1985 pp.138\u2013145.","DOI":"10.1109\/ROBOT.1985.1087373"},{"issue":"3","key":"e_1_2_1_9_2","doi-asserted-by":"crossref","DOI":"10.1109\/JRA.1987.1087096","article-title":"Sonar\u2010based real\u2010world mapping and navigation","volume":"3","author":"Elfes A.","year":"1987","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"e_1_2_1_10_2","unstructured":"H.MoravecandA.Elfes \u201cHigh resolution maps from wide angle sonar \u201d Proceedings of the 1985 IEEE International Conference on Robotics and Automation St. Louis MO 1985."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1987.4767907"},{"key":"e_1_2_1_12_2","unstructured":"J.Leonard \u201cDirected sonar sensing for mobile robot navigation \u201d Doctoral dissertation University of Oxford Oxford England 1990."},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-009-1099-7"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"R.Allen \u201cStability analysis of automobile driver steering control \u201d Proceedings of the Seventeenth NASA\u2010University Conference on Manual Control 1981 pp.597\u2013609.","DOI":"10.4271\/820303"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/37.60415"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.44033"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110405","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110405","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:46:19Z","timestamp":1737186379000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110405"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":15,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110405"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110405","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}