{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T19:51:06Z","timestamp":1769197866145,"version":"3.49.0"},"reference-count":49,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2021,3,3]],"date-time":"2021-03-03T00:00:00Z","timestamp":1614729600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"This research is supported by the National Robotics Programme under its Robotics Enabling Capabilities and Technologies (Funding Agency Project No. 192 25 00051), National Robotics Programme under its Robot Domain Specific (Funding Agency Project No. W192","award":["W1922d0110"],"award-info":[{"award-number":["W1922d0110"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Regular washing of public pavements is necessary to ensure that the public environment is sanitary for social activities. This is a challenge for autonomous cleaning robots, as they must adapt to the environment with varying pavement widths while avoiding pedestrians. A self-reconfigurable pavement sweeping robot, named Panthera, has the mechanisms to perform reconfiguration in width to enable smooth cleaning operations, and it changes its behavior based on environment dynamics of moving pedestrians and changing pavement widths. Reconfiguration in the robot\u2019s width is possible, due to the scissor mechanism at the core of the robot\u2019s body, which is driven by a lead screw motor. Panthera will perform locomotion and reconfiguration based on perception sensors feedback control proposed while using an Red Green Blue-D (RGB-D) camera. The proposed control scheme involves publishing robot kinematic parameters for reconfiguration during locomotion. Experiments were conducted in outdoor pavements to demonstrate the autonomous reconfiguration during locomotion to avoid pedestrians while complying with varying pavements widths in a real-world scenario.<\/jats:p>","DOI":"10.3390\/s21051745","type":"journal-article","created":{"date-parts":[[2021,3,3]],"date-time":"2021-03-03T20:33:57Z","timestamp":1614803637000},"page":"1745","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2997-6667","authenticated-orcid":false,"given":"Lim","family":"Yi","sequence":"first","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4804-7540","authenticated-orcid":false,"given":"Anh Vu","family":"Le","sequence":"additional","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"},{"name":"Optoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3243-9814","authenticated-orcid":false,"given":"Balakrishnan","family":"Ramalingam","sequence":"additional","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6141-4600","authenticated-orcid":false,"given":"Abdullah Aamir","family":"Hayat","sequence":"additional","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6504-1530","authenticated-orcid":false,"given":"Mohan Rajesh","family":"Elara","sequence":"additional","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2956-6206","authenticated-orcid":false,"given":"Tran Hoang Quang","family":"Minh","sequence":"additional","affiliation":[{"name":"Optoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam"}]},{"given":"Braulio F\u00e9lix","family":"G\u00f3mez","sequence":"additional","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"}]},{"given":"Lum Kai","family":"Wen","sequence":"additional","affiliation":[{"name":"ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,3]]},"reference":[{"key":"ref_1","unstructured":"(2021, March 03). 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