{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:59Z","timestamp":1777715759088,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2000,6,1]],"date-time":"2000-06-01T00:00:00Z","timestamp":959817600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,6]]},"abstract":"<jats:p>This paper deals with the generation of safe tasks for displacement missions of a nonholonomic mobile robot in a mapped indoor environment. The goal of this study is to plan safe actions (path-following) as well as observations (we call it local maps federation [LMF]), leading the robot to configurations where pertinent features can be sensed, thus attaining best localization relative to its environment. A path-planning method dealing with uncertainties is proposed, where both uncertainties in localization and in control of a nonholonomic mobile robot are managed. Maps uncertainties are handled using the local map concept, which is introduced as a set of the best landmarks used for planning and executing robust motion movements. The safeness of the proposed method is due to the mixing between the planning phase and the navigation phase.<\/jats:p>","DOI":"10.1177\/027836490001900604","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"597-611","source":"Crossref","is-referenced-by-count":41,"title":["Safe Task Planning Integrating Uncertainties and Local Maps Federations"],"prefix":"10.1177","volume":"19","author":[{"given":"Alain","family":"Lambert","sequence":"first","affiliation":[{"name":"U.T.C.\/HeuDiaSyC, UMR CNRS 6599, BP 20529, 60205 Compi\u00e8gne, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nadine","family":"Le Fort-Piat","sequence":"additional","affiliation":[{"name":"ENSMM\/L.A.B., UMR CNRS 6596, 25, rue Alain Savary, 25000                         Besan\u00e7on. France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,6,1]]},"reference":[{"key":"atypb1","unstructured":"Anderberg, M. R. 1973. Cluster Analysis for Applications. Probability and Mathematical Statistics, a series of monographs and textbooks. New York: Academic Press ."},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Becker, C., Salas, J., Tokusei, K., and Latombe, J. C. 1995. Reliable navigation using landmarks. IEEE International Conference on Robotics and Automation, Nagoya, Japan , pp. 401-406.","DOI":"10.1109\/ROBOT.1995.525317"},{"key":"atypb3","unstructured":"Bellman, R. 1957. Dynamic Programming. Princeton, NJ: Princeton University Press ."},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Betg\u00e9-Brezetz, S., H\u00e9bert. P., Chatila, R., and Devy, M. 1996. Uncertain map making in natural environments . 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