{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:29Z","timestamp":1777715729143,"version":"3.51.4"},"reference-count":30,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2000,12,1]],"date-time":"2000-12-01T00:00:00Z","timestamp":975628800000},"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":[[2000,12]]},"abstract":"<jats:p>This paper describes a navigation architecture for mobile robots, structured as a set of nested control loops whose depth is related to their knowledge of the environment and the ability to drive the actuator, and involving as well competing behaviors that will ultimately generate the robot motion. The architecture has been successfully used on a mobile platform to support three-dimensional environment reconstruction tasks. The architecture may be classified as belonging to the hybrid type but made up of hybrid elements as well, allowing virtually any level of input awareness and ranging from high-level task planning to direct motion commands issued by external user or applications. A monitorized data path ensures the construction of the most adequate and safe motion, as well as an unlimited set of behaviors depending on the already known and perceived environment. Added concepts of path recovering and assisted navigation fulfill the demands for the three-dimensional acquisition scheme involved. Some comparison with existing architectures is carried out throughout the text. The versatility and robustness of the architecture are supported by extensive results.<\/jats:p>","DOI":"10.1177\/02783640022068048","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1218-1235","source":"Crossref","is-referenced-by-count":4,"title":["A Nested-Loop Architecture for Mobile Robot Navigation"],"prefix":"10.1177","volume":"19","author":[{"given":"Vitor M.","family":"Santos","sequence":"first","affiliation":[{"name":"Universidade de Aveiro, Centro de Tecnologia Mec\u00e2nica e                         Automa\u00e7\u00e3o, Campus Universit\u00e1rio, 3810-193                         Aveiro, Portugal"}]},{"given":"Jos\u00e9 P.","family":"Castro","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico, Instituto de Sistemas e                         Rob\u00f3tica, Av.Rovisco Pais 1, 1049-001 Lisboa, Portugal"}]},{"given":"M. Isabel","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico, Instituto de Sistemas e                         Rob\u00f3tica, Av.Rovisco Pais 1, 1049-001 Lisboa, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2000,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700402"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Albus, J. S., and Rippey, W. G. 1994. RCS: A reference model architecture for intelligent control . Proceedings of the International Conference on \u201cFrom Perception to Action\u201d, Lausanne, Switzerland, pp. 218\u2013229 .","DOI":"10.1109\/FPA.1994.636106"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800406"},{"key":"atypb4","unstructured":"Arkin, R. C. 1998. Behavior-Based Robotics. Cambridge, MA: MIT Press ."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1080\/095281397147068"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Badreddin, E. 1991. A recursive control architecture for mobile robots . Proc. of the International Workshop on Information Processing in Autonomous Mobile Robots, Tum, Germany, pp. 171\u2013185 .","DOI":"10.1007\/978-3-662-07896-9_12"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700403"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Castro, J., Santos, V., and Ribeiro, M. I. 1998. A multi-loop navigation architecture for mobile robots . Int. Conf. of IEEE on Robotics and Automation, ICRA98, Leuven, Belgium, pp. 970\u2013975 .","DOI":"10.1109\/ROBOT.1998.677213"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400602"},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"de Wit, C., Khennouf, H., Samson, C., and Sordalen, O. J. 1993. Nonlinear control design for mobile robots. In Y. F. Zheng (ed.): Recent Trends in Mobile Robots. World Scientific Series in Robotics and Automated Systems, Vol. 11. Singapore: World Scientific Publishing .","DOI":"10.1142\/9789814354301_0005"},{"key":"atypb12","unstructured":"Dudek, G., and Jenkin, M. 2000. Computational Principles of Mobile Robotics. Cambridge, UK: Cambridge University Press ."},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Elfes, A. 1989. Using occupancy grids for mobile robot perception and navigation . IEEE Computer 22(6): 46\u201357 .","DOI":"10.1109\/2.30720"},{"key":"atypb14","unstructured":"Gat, E. 1998. Three-layer architectures. In Kortenkamp, D., Bonasso, R. P., and Murphy, R. (eds.): Artificial Intelligence and Mobile Robots. Cambridge, MA: AAAI Press and MIT Press , pp. 196\u2013210."},{"key":"atypb15","unstructured":"Gil, P., Pereira, J., and Lopes, F. M. 1998. Interface for a robotic system . Proceedings of the 4th International Conference on Virtual Systems and Multimedia, VSMM\u201998, Gifu, Japan."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00078-0"},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Kanayama, Y., and Hartman, B. I. 1989. Smooth local path planning for autonomous vehicles . Proc. IEEE Int. Conf. on Robotics and Automation, ICRA89, pp. 1265\u20131270 .","DOI":"10.1109\/ROBOT.1989.100154"},{"key":"atypb18","unstructured":"Kanayama, Y., and Miyake, N. 1986. Trajectory Generation for Mobile Robots, Robotics Research. Vol. 3. Cambridge, MA: MIT Press ."},{"key":"atypb19","doi-asserted-by":"crossref","unstructured":"Knieriemen, T., and von Puttkammer, E. 1991. Real-time control in an autonomous mobile robot . Proc. of the International Workshop on Information Processing in Autonomous Mobile Robots, Tum, Germany, pp. 186\u2013200 .","DOI":"10.1007\/978-3-662-07896-9_13"},{"key":"atypb20","unstructured":"Kortenkamp, D., Bonasso, R. P., and Murphy, R. (eds.). 1998. Artificial Intelligence and Mobile Robots. Cambridge, MA: AAAI Press and MIT Press ."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199704)14:4<251::AID-ROB3>3.0.CO;2-P"},{"key":"atypb22","doi-asserted-by":"crossref","unstructured":"Leevers, D., Gil, P., Lopes, F. M., Pereira, J., Castro J., Gomes-Mota, J., Ribeiro, M. I., Gon\u00e7alves, J., Sequeira, V., Wolfart, E., Dupourque, V., Santos, V., Butterfield, S., Hogg, D., and Ng, K. 1998. An autonomous sensor for 3D reconstruction . Proc. of the 3rd European Conference on Multimedia Applications Services and Techniques, EC-MAST98, Berlin, Germany.","DOI":"10.1007\/3-540-64594-2_82"},{"key":"atypb23","doi-asserted-by":"crossref","unstructured":"Meystel, A. 1991. Autonomous Mobile Robots. Singapore: World Scientific Publishing .","DOI":"10.1142\/0256"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1080\/095281397147167"},{"key":"atypb25","unstructured":"Santos, V. 1995. Autonomous robot navigation: Sensor data interpretation and local navigation. Ph.D. diss., University of Aveiro, Portugal (in Portuguese)."},{"key":"atypb26","unstructured":"Santos, V., Castro, J., and Ribeiro, M. I. 1998. Navigation architecture for the RESOLV mobile robot . Proc. of the 3rd Portuguese Conference on Automatic Control, CONTROLO98, Coimbra, pp. 805\u2013810 ."},{"key":"atypb27","doi-asserted-by":"crossref","unstructured":"Santos, V., Gon\u00e7alves, J., and Vaz, F. 1994. Perception maps for the local navigation of a mobile robot: A neural network approach . IEEE Int. Conf. on Robotics and Automation, ICRA94, San Diego, CA, pp. 2193\u20132198 .","DOI":"10.1109\/ROBOT.1994.350959"},{"key":"atypb28","doi-asserted-by":"crossref","unstructured":"Santos, V., Gon\u00e7alves, J., and Vaz, F. 1996. Local perception maps for autonomous robot navigation . Proc. of the IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, IROS96, Osaka, Japan, pp. 821\u2013827 .","DOI":"10.1109\/IROS.1996.571058"},{"key":"atypb29","doi-asserted-by":"crossref","unstructured":"Sequeira, V., and Gon\u00e7alves, J.G.M. 1996. Active view selection for efficient 3D scene reconstruction .Proceedings of the 13th International Conference on Pattern Recognition, ICPR96, Vienna, Austria, pp. 815\u2013819 .","DOI":"10.1109\/ICPR.1996.546137"},{"key":"atypb30","doi-asserted-by":"publisher","DOI":"10.1109\/70.285583"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022068048","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022068048","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:03Z","timestamp":1777457763000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783640022068048"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,12]]},"references-count":30,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2000,12]]}},"alternative-id":["10.1177\/02783640022068048"],"URL":"https:\/\/doi.org\/10.1177\/02783640022068048","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,12]]}}}