{"id":"https://openalex.org/W4307640240","doi":"https://doi.org/10.1515/auto-2022-0068","title":"An autonomous crawler excavator for hazardous environments","display_name":"An autonomous crawler excavator for hazardous environments","publication_year":2022,"publication_date":"2022-10-01","ids":{"openalex":"https://openalex.org/W4307640240","doi":"https://doi.org/10.1515/auto-2022-0068"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2022-0068","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/bitstreams/8d02ce17-5b86-433f-adb7-0f5e693be21d/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056395145","display_name":"Christian Frese","orcid":"https://orcid.org/0000-0002-1037-5696"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Frese","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010498787","display_name":"Angelika Zube","orcid":"https://orcid.org/0000-0002-5355-503X"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Angelika Zube","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053280897","display_name":"Philipp Woock","orcid":"https://orcid.org/0000-0002-1212-302X"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philipp Woock","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048735168","display_name":"Thomas Emter","orcid":"https://orcid.org/0000-0002-0915-9654"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Emter","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011433192","display_name":"Nina Felicitas Heide","orcid":"https://orcid.org/0000-0002-0198-8634"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nina Felicitas Heide","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024768516","display_name":"Alexander Albrecht","orcid":"https://orcid.org/0000-0001-5238-9167"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Albrecht","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059340994","display_name":"Janko Petereit","orcid":"https://orcid.org/0000-0003-4715-8908"},"institutions":[{"id":"https://openalex.org/I4210111500","display_name":"Fraunhofer Institute of Optronics, System Technologies and Image Exploitation","ror":"https://ror.org/01zx97922","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111500","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janko Petereit","raw_affiliation_strings":["Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Center Machine Learning , Fraunhofer IOSB , Karlsruhe , Germany","institution_ids":["https://openalex.org/I4210111500"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5053280897"],"corresponding_institution_ids":["https://openalex.org/I4210111500"],"apc_list":null,"apc_paid":null,"fwci":0.53,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.745091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":79,"max":82},"biblio":{"volume":"70","issue":"10","first_page":"859","last_page":"876"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9938,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9938,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9925,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13344","display_name":"Industrial Automation and Control Systems","score":0.9909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.9200736},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.7372049},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.53715944},{"id":"https://openalex.org/keywords/autonomous-system","display_name":"Autonomous system (mathematics)","score":0.4486374}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9200736},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.7372049},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6357241},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.53715944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46679598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4639539},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.4486374},{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.44825715},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.44134167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43297112},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4038722},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3447144},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34163594},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3324937},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33042502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28673807},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.26266652},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.13097453},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.110790074},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09192276},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2022-0068","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/428149","pdf_url":"http://publica.fraunhofer.de/bitstreams/8d02ce17-5b86-433f-adb7-0f5e693be21d/download","source":null,"license":"mit","license_id":"https://openalex.org/licenses/mit","version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/428149","pdf_url":"http://publica.fraunhofer.de/bitstreams/8d02ce17-5b86-433f-adb7-0f5e693be21d/download","source":null,"license":"mit","license_id":"https://openalex.org/licenses/mit","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":22,"referenced_works":["https://openalex.org/W1558979968","https://openalex.org/W2087311215","https://openalex.org/W2100116220","https://openalex.org/W2146887203","https://openalex.org/W2163417847","https://openalex.org/W2403171414","https://openalex.org/W2471969791","https://openalex.org/W2521696884","https://openalex.org/W2751778278","https://openalex.org/W2903171153","https://openalex.org/W2952691404","https://openalex.org/W2971104844","https://openalex.org/W2975470096","https://openalex.org/W3003906237","https://openalex.org/W3015872276","https://openalex.org/W3127831513","https://openalex.org/W3147858585","https://openalex.org/W3155756706","https://openalex.org/W3172790817","https://openalex.org/W3175313230","https://openalex.org/W3178119935","https://openalex.org/W4206067118"],"related_works":["https://openalex.org/W3003601017","https://openalex.org/W2997898942","https://openalex.org/W2997279469","https://openalex.org/W2901741596","https://openalex.org/W2391703932","https://openalex.org/W2370050348","https://openalex.org/W2363098002","https://openalex.org/W2353530107","https://openalex.org/W2347606691","https://openalex.org/W2038528908"],"abstract_inverted_index":{"Abstract":[0],"As":[1],"part":[2],"of":[3,42,52,63,91],"ROBDEKON,":[4],"a":[5,14,19,48,53,57],"24-ton":[6],"crawler":[7],"excavator":[8],"was":[9],"equipped":[10],"with":[11],"sensors":[12],"and":[13,36,60,89],"digital":[15],"actuation":[16],"interface":[17],"as":[18],"technology":[20],"demonstrator":[21],"which":[22],"features":[23],"autonomy":[24,94],"capabilities.":[25],"The":[26,38],"system":[27,39],"architecture":[28],"includes":[29],"algorithms":[30],"for":[31],"localization,":[32],"perception,":[33],"mapping,":[34],"planning,":[35],"control.":[37],"is":[40,78],"capable":[41],"tasks":[43],"like":[44],"autonomous":[45,61,82],"driving":[46],"to":[47,56],"target":[49],"location,":[50],"excavation":[51],"predefined":[54],"area":[55],"given":[58],"depth,":[59],"loading":[62],"an":[64],"autonomously":[65],"approaching":[66],"transport":[67],"vehicle.":[68],"To":[69],"ensure":[70],"safety,":[71],"collision":[72],"avoidance":[73],"based":[74],"on":[75],"360\u00b0":[76],"perception":[77],"always":[79],"active":[80],"during":[81],"operation.":[83],"This":[84],"article":[85],"presents":[86],"the":[87,92],"concept":[88],"implementation":[90],"excavator\u2019s":[93],"functionality.":[95]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4307640240","counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-03-24T03:06:19.766684","created_date":"2022-11-04"}