@inproceedings{Endo_Asama-2024-TeamOrganization,
  author = {Wakana Endo and Shota Chikushi and Yuichiro Sueoka and Yuki Kato and Kaito Kimura and Yusuke Ikemoto and Ren Komatsu and Keiji Nagatani and Atsushi Yamashita and Hajime Asama},
  title = {Performance-Based Earthmoving Team Organization Algorithm Enabling Task Completion Under Changing Conditions},
  booktitle = {2024 IEEE/SICE International Symposium on System Integration (SII)},
  year = {2024},
  pages = {780--785},
  url = {http://k-nagatani.org/pdf/10.1109/SII58957.2024.10417582}
}

@inproceedings{Shimizu_Yamashita-2024-PipeInspection,
  author = {Susumu Shimizu and Takuya Igaue and Jun Younes Louhi Kasahara and Naoya Yamato and Seiji Kasahara and Hiroyuki Ito and Taizo Daito and Sunao Tamura and Akinobu Sasamura and Toshiya Kato and Shinji Kanda and Keiji Nagatani and Hajime Asama and Qi An and Atsushi Yamashita},
  title = {Change Detection in Pipe Image Pairs Extracted from Inspection Videos by Sequential Filtering},
  booktitle = {2024 IEEE/SICE International Symposium on System Integration (SII)},
  year = {2024},
  pages = {629--636},
  url = {http://k-nagatani.org/pdf/10.1109/SII58957.2024.10417231}
}

@inproceedings{Katsura_Yamashita-2024-ActionRecognition,
  author = {Tomohiro Katsura and Ren Komatsu and Keiji Nagatani and Takumi Chiba and Kazuhiro Chayama and Atsushi Yamashita and Hajime Asama},
  title = {Action Recognition of Excavators Using Physical Simulator and Real Image Data with Class-Dependent Data Augmentation},
  booktitle = {2024 IEEE/SICE International Symposium on System Integration (SII)},
  year = {2024},
  pages = {650--656},
  url = {http://k-nagatani.org/pdf/10.1109/SII58957.2024.10417590}
}

@inproceedings{Fujita_Yamashita-2023-AcousticMonitoring,
  author = {Hayato Fujita and Jun Younes Louhi Kasahara and Shinji Kanda and Keiji Nagatani and Seiji Kasahara and Seigo Fukumoto and Sunao Tamura and Toshiya Kato and Masahiro Korenaga and Akinobu Sasamura and Misaki Hoshi and Hajime Asama and Atsushi Yamashita},
  title = {Acoustic Monitoring in Industrial Plants with Autoencoders and a Mobile Robot},
  booktitle = {2023 20th International Conference on Ubiquitous Robots (UR)},
  year = {2023},
  pages = {510--514},
  url = {http://k-nagatani.org/pdf/10.1109/UR57808.2023.10202270}
}

@inproceedings{Takamiya_Yajima-2023-ReinforcementTrackedRobot,
  author = {Hidenori Takamiya and Ryosuke Yajima and Jun Younes Louhi Kasahara and Ren Komatsu and Keiji Nagatani and Atsushi Yamashita and Hajime Asama},
  title = {Reinforcement Learning-based Motion Generation for a Tracked Robot to Go Over a Sphere-shaped Non-fixed Obstacle},
  booktitle = {2023 IEEE/SICE International Symposium on System Integration (SII)},
  year = {2023},
  url = {https://ieeexplore.ieee.org/abstract/document/10039098/}
}

@inproceedings{Akegawa_Ohno-2022-PathPlanning,
  author = {Akegawa Tetsu and Ohno Kazunori and Kojima Shotaro and Yamada Kento and Go Wiru and Suzuki Taro and Kiribayashi Seiga and Komatsu Tomohiro and Miyamoto Naoto and Suzuki Takahiro and others},
  title = {Path Planning of the Turning Back of an Autonomous Large-Scale Six-Wheeled Dump Truck for Loading/Leaving Sediment Based on Backhoe Work},
  booktitle = {2022 IEEE/SICE International Symposium on System Integration (SII)},
  year = {2022},
  pages = {511----518},
  url = {https://ieeexplore.ieee.org/abstract/document/9708879}
}

@inproceedings{Sugasawa_ET_AL-2021-VisualDumpTruck,
  author = {Sugasawa Yuta and Chikushi Shota and Komatsu Ren and Kasahara JY Louhi and Pathak Sarthak and Yajima Ryosuke and Hamasaki Shunsuke and Nagatani Keiji and Chiba Takumi and Chayama Kazuhiro and others},
  title = {Visualization of Dump Truck and Excavator in Bird’s-eye View by Fisheye Cameras and 3D Range Sensor},
  booktitle = {Proceedings of the 16th International Conference on Intelligent Autonomous Systems (IAS)},
  year = {2021},
  pages = {480----491},
  url = {http://www.robot.t.u-tokyo.ac.jp/ yamashita/paper/B/B282Final.pdf}
}

@inproceedings{Sim_ET_AL-2021-FiltersForLearning,
  author = {Jinhyeok Sim and Jun Younes Louhi Kasaharaa and Shota Chikushia and Keiji Nagatani and Takumi Chiba and Kazuhiro Chayama and Atsushi Yamashita and Hajime Asama},
  title = {Effects of Video Filters for Learning an Action Recognition Model for Construction Machinery from Simulated Training Data},
  booktitle = {IEEE/SICE International Symposium on System Integrations (SII)},
  year = {2021},
  pages = {12--16},
  url = {http://k-nagatani.org/pdf/2021-SII-SIM-online.pdf}
}

@inproceedings{Komatsu_Nagatani-2021-RetrofitDump,
  author = {Tomohiro Komatsu and Yota Konno and Seiga Kiribayashi and Keiji Nagatani and Takahiro Suzuki and Kazunori Ohno and Taro Suzuki and Naoto Miyamoto and Yukinori Shibata and Kimitaka Asano},
  title = {Autonomous Driving of Six-Wheeled Dump Truck with Retrofitted Robot},
  booktitle = {Field and Service Robotics,Results of the 12th International Conference},
  year = {2021},
  pages = {59----72},
  url = {https://link.springer.com/chapter/10.1007/978-981-15-9460-1_5}
}

@inproceedings{Yajima_Nagatani-2021-UnfixedObstacle,
  author = {Ryosuke Yajima and Keiji Nagatani},
  title = {Obstacle climbing of tracked robot for unfixed cylindrical obstacle using subtracks},
  booktitle = {Field and Service Robotics,Results of the 12th International Conference},
  year = {2021},
  pages = {189----203},
  url = {https://link.springer.com/chapter/10.1007/978-981-15-9460-1_14}
}

@inproceedings{Nagatani_Momii-2021-TetheredRobot,
  author = {Keiji Nagatani and Masaki Momii},
  title = {Tethered dual-wheeled robot for exploration of volcanic fumaroles on steep slopes},
  booktitle = {Field and Service Robotics,Results of the 12th International Conference},
  year = {2021},
  pages = {31----43},
  url = {https://link.springer.com/chapter/10.1007/978-981-15-9460-1_3}
}

@inproceedings{Matsubara_Nagatani-2021-LidarAndMirror,
  author = {Kazuki Matsubara and Keiji Nagatani},
  title = {Improvement in measurement area of three-dimensional LiDAR using mirrors mounted on mobile robots},
  booktitle = {Field and Service Robotics,Results of the 12th International Conference},
  year = {2021},
  pages = {85----99},
  url = {https://link.springer.com/chapter/10.1007/978-981-15-9460-1_7}
}

@inproceedings{Yamada_Ohno-2020-BackhoeLoading,
  author = {Kento Yamada and Kazunori Ohno and Ryunosuke Hamada and Thomas Westfechtel and Ranulfo Plutarco Bezerra Neto and Naoto Miyamoto and Taro Suzuki and Takahiro Suzuki and Keiji Nagatani and Yukinori Shibata and Kimitaka Asano and Tomohiro Komatsu and Satoshi Tadokoro},
  title = {Prediction of Backhoe Loading Motion via the Beta-Process Hidden Markov Model},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2020},
  pages = {2663--2670},
  url = {https://ieeexplore.ieee.org/abstract/document/9340697}
}

@inproceedings{Chikushi_ET_AL-2020-IntelliConst,
  author = {Shota Chikushi and Jun Younes Louhi Kasahara and Hiromitsu Fujii and Yusuke Tamura and Angela Faragasso and Hiroshi Yamakawa and Keiji Nagatani and Yonghoon Ji and Shinya Aoki and Takumi Chiba and Shingo Yamamoto and Kazuhiro Chayama and Atsushi Yamashita and Hajime Asama},
  title = {Research and Development of Construction Technology in Social Cooperation Program Intelligent Construction System},
  booktitle = {International Symposium on Automation and Robotics in Construction (ISARC)},
  year = {2020},
  pages = {1536--1540},
  url = {https://doi.org/10.22260/ISARC2020/0213}
}

@inproceedings{HMS_SGM-2020-EyeBlink,
  author = {Shunsuke Hamasaki and Mizuki Sugimoto and Ryosuke Yajima and Atsushi Yamashita and Keiji Nagatani and Hajime Asama},
  title = {Investigation of Changes in Eye-Blink Rate by VR Experiment for Incident Detection at Construction Sites},
  booktitle = {International Symposium on Automation and Robotics in Construction (ISARC)},
  year = {2020},
  pages = {1191--1194},
  url = {https://doi.org/10.22260/ISARC2020/0163}
}

@inproceedings{SGM_HMS-2020-HeartRate,
  author = {Mizuki Sugimoto and Shunsuke Hamasaki and Ryosuke Yajima and Hiroshi Yamakawa and Kaoru Takakusaki and Keiji Nagatani and Atsushi Yamashita and Hajime Asama},
  title = {Incident Detection at Construction Sites via Heart-Rate and EMG Signal of Facial Muscle},
  booktitle = {International Symposium on Automation and Robotics in Construction (ISARC)},
  year = {2020},
  pages = {886--891},
  url = {https://doi.org/10.22260/ISARC2020/0122}
}

@inproceedings{Sim_ET_AL-2020-ActionRecognition,
  author = {Jinhyeok Sim and Jun Younes Louhi Kasaharaa and Shota Chikushia and Hiroshi Yamakawa and Yusuke Tamura and Keiji Nagatani and Takumi Chiba and Shingo Yamamoto and Kazuhiro Chayama and Atsushi Yamashita and Hajime Asama},
  title = {Action recognition of construction machinery from simulated training data using video filters},
  booktitle = {International Symposium on Automation and Robotics in Construction (ISARC)},
  year = {2020},
  pages = {595--599},
  url = {https://doi.org/10.22260/ISARC2020/0083}
}

@inproceedings{KAT_KEI-2020-ExcavationPath,
  author = {Shinya Katsuma and Ryosuke Yajima and Shunsuke Hamasaki and Pang-Jo Chun and Keiji Nagatani and Genki Yamauchi and Takeshi Hashimoto and Atsushi Yamashita and Hajime Asama},
  title = {Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil},
  booktitle = {International Symposium on Automation and Robotics in Construction (ISARC)},
  year = {2020},
  pages = {578--583},
  url = {https://doi.org/10.22260/ISARC2020/0080}
}

@inproceedings{Chikushi_ET_AL-2020-UnmannedConstruction,
  author = {Shota Chikushi and Yushi Moriyama and Hiromitsu Fujii and Yusuke Tamura and Hiroshi Yamakawa and Keiji Nagatani and Yuya Sakai and Takumi Chiba and Shingo Yamamoto and Kazuhiro Chayama and Atsushi Yamashita and Hajime Asama},
  title = {Automated Image Presentation for Backhoe Embankment Construction in Unmanned Construction Site},
  booktitle = {IEEE/SICE International Symposium on System Integration (SII)},
  year = {2020},
  pages = {22--27},
  url = {http://www.robot.t.u-tokyo.ac.jp/ yamashita/paper/B/B248Final.pdf}
}

@inproceedings{Yamada_ET_AL-2020-BackhoeMotion,
  author = {Kento Yamada and Kazunori Ohno and Naoto Miyamoto and Taro Suzuki and Shotaro Kojima and Ranulfo Plutarco Bezerra Neto and Takahiro Suzuki and Keiji Nagatani and Yukinori Shibata and Kimitaka Asano and Tomohiro Komatsu and Satoshi Tadokoro},
  title = {Attachable Sensor Boxes to Visualize Backhoe Motion},
  booktitle = {IEEE/SICE International Symposium on System Integration (SII)},
  year = {2020},
  pages = {706--711},
  url = {https://ieeexplore.ieee.org/document/9026227}
}

@inproceedings{Takane_ET_AL-2019-OmniCrawler,
  author = {Eri Takane and Kenjiro Tadakuma and Tori Shimizu and Sosuke Hayashi and Masahiro Watanabe and Shingo Kagami and Keiji Nagatani and Masashi Konyo and Satoshi Tadokoro},
  title = {Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method},
  booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2019},
  pages = {2732--2739},
  url = {https://ieeexplore.ieee.org/abstract/document/8968507}
}

@inproceedings{Yamauchi_ET_AL-2019-ConeIndex,
  author = {Norihiro Yamauchi and Shota Chikushi and Yusuke Tamura and Hiroshi Yamakawa and Keiji Nagatani and Hiromitsu Fujii and Yuya Sakai and Takumi Chiba and Shingo Yamamoto and Kazuhiro Chayama and Atsushi Yamashita and Hajime Asama},
  title = {Estimation of Cone Index from Water Content and Soil Types Obtained from Hyperspectral Images},
  booktitle = {2019 IEEE 8th Global Conference on Consumer Electronics (GCCE)},
  year = {2019},
  pages = {1--4},
  url = {https://pdfs.semanticscholar.org/6906/153f3b9b6576f79161505a4637e236ad98aa.pdf}
}

@inproceedings{Yajima_Nagatani-2018-SlopeTraversalSubtrack,
  author = {Ryosuke Yajima and Keiji Nagatani},
  title = {Investigation of the tip-over condition and motion strategy for a tracked vehicle with sub-tracks climbing over an obstacle on a slope},
  booktitle = {2018 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2018},
  pages = {37},
  url = {http://k-nagatani.org/pdf/2018-SSRR-YAJ-online.pdf}
}

@inproceedings{Shao_Asama_Nagatani-2017-ScaleAndSlopeInfo,
  author = {Yuyang Shao and Yonghoon Ji and Hiromitsu Fujii and Keiji Nagatani and Atsushi Yamashita and Hajime Asama},
  title = {Estimation of Scale and Slope Information for Structure from Motion-based 3D Map},
  booktitle = {2017 IEEE/SICE International Symposium on System Integration},
  year = {2017},
  pages = {TuC4.8}
}

@inproceedings{Awashima_Asama_Nagatani-2017-SafenessVisualization,
  author = {Yasuyuki AWASHIMA and Hiromitsu FUJII and Yusuke TAMURA and Keiji NAGATANI and Atsushi YAMASHITA and Hajime ASAMA},
  title = {Safeness Visualization of Terrain for Teleoperation of Mobile Robot Using 3D Environment Map and Dynamic Simulator},
  booktitle = {2017 IEEE/SICE International Symposium on System Integration},
  year = {2017},
  pages = {TuC4.6}
}

@inproceedings{Yajima_Nagatani-2017-SlopeTraversalUniTrack,
  author = {Ryosuke Yajima and Keiji Nagatani},
  title = {Investigation of Tip-Over Condition for Tracked Vehicles Climbing Over an Obstacle on a Slope},
  booktitle = {2017 IEEE/SICE International Symposium on System Integration},
  year = {2017},
  pages = {TuC4.4},
  url = {http://k-nagatani.org/pdf/2017-SII-YAJ-online.pdf}
}

@inproceedings{Genki_Nagatani-2017-SlipCompensatedOdometry,
  author = {Genki Yamauchi and Keiji Nagatani and Takeshi Hashimoto and Kenichi Fujino},
  title = {SLIP COMPENSATED ODOMETRY FOR TRACKED VEHICLE WHEN ROTATING ON A LOOSE WEAK SLOPE},
  booktitle = {19th International Society of Terrain Vehicle Systems International Conference},
  year = {2017},
  pages = {001−007},
  url = {http://k-nagatani.org/pdf/2017-ISTVS-GEN-online.pdf}
}

@inproceedings{Otsuka_Nagatani-2017-FlowVisualizationWake,
  author = {Hikaru Otsuka and Masayoshi Kohno and Keiji Nagatani},
  title = {Flow Visualization of Wake of a Quad-copter in Ground Effect},
  booktitle = {The 6th Asia-Australia Rotorcraft Forum and Heli Japan 2017},
  year = {2017},
  pages = {ARF6--039},
  url = {http://k-nagatani.org/pdf/2017-HELI-OTK-online.pdf}
}

@inproceedings{Kiribayashi_Yakushigawa-2017-TetheredDronePositioning,
  author = {Seiga Kiribayashi and Keiji Nagatani and Kaede Yakushigawa},
  title = {Position Estimation of Tethered Micro Unmanned Aerial Vehicle by Observing the Slack Tether},
  booktitle = {2017 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2017},
  pages = {Fr12T1},
  url = {http://k-nagatani.org/pdf/2017-SSRR-KED-online.pdf}
}

@inproceedings{Nagatani_Tatano-2017-TetheredMobileRobot,
  author = {Keiji Nagatani and So Tatano and Keisuke Ikeda and Atsushi Watanabe and Miwa Kuri},
  title = {Design and Development of a Tethered Mobile Robot to Traverse on Steep Slope based on an Analysis of its Slippage and Turnover},
  booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2017},
  pages = {2637--2642},
  url = {http://k-nagatani.org/pdf/2017-IROS-TTN-online.pdf}
}

@inproceedings{Nagatani_NEDO-2017-NEDOVolcano,
  author = {Keiji Nagatani and Ryosuke Yajima and Seiga Kiribayashi and Tomoaki Izu and Hiromichi Kanai and Hiroyuki Kanasaki and Jun Minagawa and Yuji Moriyama},
  title = {Field Report: UAV-based Volcano Observation System for Debris Flow Evacuation Alarm},
  booktitle = {Preprints of the 11th International Conference on Field and Service Robotics},
  year = {2017},
  pages = {#10},
  url = {http://k-nagatani.org/pdf/2017-FSR-KEI-NEDO-online.pdf}
}

@inproceedings{Kiribayashi_Nagatani-2017-ImPACTTetheredSystem,
  author = {Seiga KIRIBAYASHI and Kaede YAKUSHIGAWA and Keiji NAGATANI},
  title = {Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine},
  booktitle = {Preprints of the 11th International Conference on Field and Service Robotics},
  year = {2017},
  pages = {#24},
  url = {http://k-nagatani.org/pdf/2017-FSR-KIR-ImPACT-online.pdf}
}

@inproceedings{Nagatani_ARGOS-2017-ARGOSExpProof,
  author = {Keiji Nagatani and Daisuke Endo and Atsushi Watanabe and Eiji Koyanagi},
  title = {Design and Development of Explosion-proof Tracked Vehicle for Inspection of Offshore Oil Plant},
  booktitle = {Preprints of the 11th International Conference on Field and Service Robotics},
  year = {2017},
  pages = {#9},
  url = {http://k-nagatani.org/pdf/2017-FSR-KEI-ARGOS-online.pdf}
}

@inproceedings{Otsuka_Nagatani-2017-PitchingMomentGeneration,
  author = {Hikaru Otsuka and Keiji Nagatani},
  title = {Reduction of Pitching Moment Generation of a Quadrotor UAV in Gust with Slant Rotors},
  booktitle = {55th AIAA Aerospace Sciences Meeting,AIAA SciTech Forum},
  year = {2017},
  pages = {2017--0500},
  url = {http://arc.aiaa.org/doi/abs/10.2514/6.2017-0500}
}

@inproceedings{Watanabe_Nagatani-2016-Neonavigation,
  author = {Atsushi Watanabe and daisuke endo and Genki Yamauchi and Keiji Nagatani},
  title = {Neonavigation meta-package: 2-D/3-DOF Seamless Global-Local Planner for ROS -Development and Field Test on the Representative Offshore Oil Plant-},
  booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2016},
  pages = {86--91},
  url = {http://k-nagatani.org/pdf/2016-SSRR-AWD1-online.pdf}
}

@inproceedings{Watanabe_Nagatani-2016-ZaoDepthMapping,
  author = {Atsushi Watanabe and Miwa Kuri and Keiji Nagatani},
  title = {Field Report: Autonomous Lake Bed Depth Mapping by a Portable Semi-Submersible USV at Mt. Zao Okama Crater Lake},
  booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2016},
  pages = {214--219},
  url = {http://k-nagatani.org/pdf/2016-SSRR-AWD2-online.pdf}
}

@inproceedings{Yamauchi_Nagatani-2016-OnlineSlipEstimation,
  author = {Genki Yamauchi and Daiki Suzuki and Keiji Nagatani},
  title = {Online Slip Parameter Estimation for Tracked Vehicle Odometry on Loose Slope},
  booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2016},
  pages = {227--232},
  url = {http://k-nagatani.org/pdf/2016-SSRR-GEN-online.pdf}
}

@inproceedings{Endo_Nagatani-2016-StabilityDiscriminant,
  author = {Daisuke Endo and Keiji Nagatani},
  title = {Stability Discriminant of a Tracked Vehicle to Traverse Stairs},
  booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2016},
  pages = {100--105},
  url = {http://k-nagatani.org/pdf/2016-SSRR-EDY1-online.pdf}
}

@inproceedings{Endo_Nagatani-2016-StairClimbingControl,
  author = {Daisuke Endo and Keiji Nagatani},
  title = {Stair Climbing Control of 4-Degrees of Freedom Tracked Vehicle Based on Internal Sensors},
  booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2016},
  pages = {112--117},
  url = {http://k-nagatani.org/pdf/2016-SSRR-EDY2-online.pdf}
}

@inproceedings{Otsuka_Nagatani-2016-EffectOfReynoldsNumbers,
  author = {Hikaru Otsuka and Keiji Nagatani},
  title = {Effect of Reynolds Numbers of 10000 to 100000 on Rotor Blades of Small Unmanned Aerial Vehicles},
  booktitle = {34th AIAA Applied Aerodynamics Conference},
  year = {2016},
  pages = {2016--3423},
  url = {http://arc.aiaa.org/doi/abs/10.2514/6.2016-3423}
}

@inproceedings{Higa_Nagaoka-2016-StressDistributions,
  author = {Shoya Higa and Kazumasa Sawada and Kenji Nagaoka and Keiji Nagatani and Kazuya Yoshida},
  title = {Measurement of Stress Distributions of a Wheel with Grousers Traveling on Loose Soil},
  booktitle = {2016 IEEE International Conference on Robotics and Automation},
  year = {2016},
  pages = {2828--2833}
}

@inproceedings{Otsuka_Nagatani-2016-ThrustLossSavingDesign,
  author = {Hikaru Otsuka and Keiji Nagatani},
  title = {Thrust Loss Saving Design of Overlapping Rotor Arrangement on Small Multirotor Unmanned Aerial Vehicles},
  booktitle = {2016 IEEE International Conference on Robotics and Automation},
  year = {2016},
  pages = {3242--3248},
  url = {http://k-nagatani.org/pdf/2016-ICRA-OTK-online.pdf}
}

@inproceedings{Otsuka_Nagatani-2015-FlowVisualization,
  author = {Hikaru Otsuka and Keiji Nagatani},
  title = {Flow visualization of a separation flow from a shrouded rotor inlet in a crosswind},
  booktitle = {the 7th Asia-Pacific International Symposium on Aerospace Technology(APISAT)},
  year = {2015},
  pages = {395},
  url = {https://search.informit.com.au/documentSummary;dn=270940479291083;res=IELENG}
}

@inproceedings{Kiribayashi_Nagatani-2015-ModelingPoweredMulticopter,
  author = {Seiga Kiribayashi and Jun Ashizawa and Keiji Nagatani},
  title = {Modeling and Design of Tether Powered Multicopter},
  booktitle = {2015 IEEE International Symposium on Safety, Security, and Rescue Robotics},
  year = {2015},
  pages = {57},
  url = {http://k-nagatani.org/pdf/2015-SSRR-KIR-online.pdf}
}

@inproceedings{Otsuka_Nagatani-2015-HoveringThrustPerformance,
  author = {Hikaru Otsuka and Keiji Nagatani and Kazuya Yoshida},
  title = {Evaluation of Hovering Thrust Performance of Shrouded Rotors for Multi-rotor UAVs to Reduce Weight},
  booktitle = {AIAA Atmospheric Flight Mechanics Conference},
  year = {2015},
  pages = {13},
  url = {http://arc.aiaa.org/doi/abs/10.2514/6.2015-0013}
}

@inproceedings{Higa_Nagatani-2014-2DNormalStressDistribution,
  author = {Shoya Higa and Kenji Nagaoka and Keiji Nagatani and Kazuya Yoshida},
  title = {Measurement Method for Two-dimensional Normal Stress Distribution of Wheels on Lateral Loose Soil Slopes},
  booktitle = {Proceedings of the 2014 IEEE/SICE International Symposium on System Integration},
  year = {2014},
  pages = {603--608},
  url = {http://k-nagatani.org/pdf/2014-SII-SHO-online.pdf}
}

@inproceedings{Tsuzuki_Nagatani-2014-HybridCommunicationSystem,
  author = {Ryohei Tsuzuki and Keiji Nagatani and Genki Yamauchi},
  title = {Teleoperation of mobile robots using hybrid communication system in unreliable radio communication environments},
  booktitle = {Proceedings of the 2014 IEEE Int'l Workshop on Safety,Security and Rescue Robotics},
  year = {2014},
  url = {http://k-nagatani.org/pdf/2014-SSRR-ZUK-online.pdf}
}

@inproceedings{Yajima_Nagatani-2014-FieldTestingUAV,
  author = {Ryosuke Yajima and Keiji Nagatani and Kazuya Yoshida},
  title = {Development and Field Testing of UAV-based Sampling Devices for Obtaining Volcanic Products},
  booktitle = {Proceedings of the 2014 IEEE Int'l Workshop on Safety,Security and Rescue Robotics},
  year = {2014},
  url = {http://k-nagatani.org/pdf/2014-SSRR-YAJ-online.pdf}
}

@inproceedings{Yamauchi_Nagatani-2014-SlopeTraversability,
  author = {Genki Yamauchi and Takahiro Noyori and Keiji Nagatani and Kazuya Yoshida},
  title = {Improvement of Slope Traversability for a Multi-DOF Tracked Vehicle with Active Reconfiguration of Its Joint Forms},
  booktitle = {Proceedings of the 2014 IEEE Int'l Workshop on Safety,Security and Rescue Robotics},
  year = {2014},
  url = {http://k-nagatani.org/pdf/2014-SSRR-GEN-online.pdf}
}

@inproceedings{Nagatani-2014-TeleoperatiedMobileRobots,
  author = {Keiji Nagatani and Ken Akiyama and Genki Yamauchi and Kazuya Yoshida and Yasushi Hada and Shin'ichi Yuta and Tomoyuki Izu and Randy Mackay},
  title = {Development and Field Test of Teleoperated Mobile Robots for Active Volcano Observation},
  booktitle = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2014},
  pages = {1932--1937},
  url = {http://k-nagatani.org/pdf/2014-IROS-KEI-online.pdf}
}

@inproceedings{Otsuka_Nagatani-2014-RotaryWingThrust,
  author = {Hikaru Otsuka and Masaki Okochi and Keiji Nagatani and Keisuke Asai and Kazuya Yoshida},
  title = {Evaluation of Rotary wing Thrust of Small UAVs in High Altitude Flight Conditions},
  booktitle = {The 1st International Conference on Computational Engineering and Science for Safety and Environmental Problems},
  year = {2014},
  pages = {784--787},
  url = {http://k-nagatani.org/pdf/2014-compsafe-OTK-online.pdf}
}

@inproceedings{Nagatani-2013-MultiDOFTrackedVehicle,
  author = {Keiji Nagatani and Takahiro Noyori and Kazuya Yoshida},
  title = {Development of Multi-D.O.F. Tracked Vehicle to Traverse Weak Slope and Climb up Rough Slope},
  booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2013},
  pages = {2849--2854},
  url = {http://k-nagatani.org/pdf/2013-IROS-NOY-online.pdf}
}

@inproceedings{Nagatani-2013-VolcanicAshObservation,
  author = {Keiji Nagatani and Ken Akiyama and Genki Yamauchi and Hikaru Otsuka and Takuma Nakamura and Seiga Kiribayashi and Kazuya Yoshida and Yasushi Hada and Shini'chi Yuta and Kenichi Fujino and Tomoyuki Izu and Randy Mackay},
  title = {Volcanic Ash Observation in Active Volcano Areas using Teleoperated Mobile Robots --Introduction to Our Robotic-Volcano-Observation Project and Field Experiments--},
  booktitle = {Proceedings of the 2013 IEEE Int'l Workshop on Safety,Security and Rescue Robotics},
  year = {2013},
  pages = {5A--1},
  url = {http://k-nagatani.org/pdf/2013-SSRR-KEI-online.pdf}
}

@inproceedings{Ohki_Nagatani-2013-PathPlanningOnRoughTerrain,
  author = {Takeshi Ohki and Keiji Nagatani and Kazuya Yoshida},
  title = {Path Planning for Mobile Robot on Rough Terrain based on Sparse Transition Cost Propagation in Extended Elevation Maps},
  booktitle = {2013 IEEE International Conference on Mechatronics and Automation,ICMA2013},
  year = {2013},
  pages = {494--499}
}

@inproceedings{Inotsume_Nagatani-2012-ReconfigurablePlanetaryRovers,
  author = {Hiroaki Inotsume and Masataku Sutoh and Kenji Nagaoka and Keiji Nagatani and Kazuya Yoshida},
  title = {Slope Traversability Analysis of Reconfigurable Planetary Rovers},
  booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2012},
  pages = {4470--4476},
  url = {http://k-nagatani.org/pdf/2012-IROS-INO-online.pdf}
}

@inproceedings{Sutoh_Nagatani-2012-EvaluationOfInfluenceOfWheelSurfaceShapes,
  author = {Masataku Sutoh and Kenji Nagaoka and Keiji Nagatani and Kazuya Yoshida},
  title = {EVALUATION OF INFLUENCE OF WHEEL SURFACE SHAPES ON TRACTIVE EFFICIENCIES OF PLANETARY ROVERS IN VARIOUS SOIL ENVIRONMENTS},
  booktitle = {The international Symposium on Artificial Intelligence,Robotics and Automation in Space (iSAIRAS 2012)},
  year = {2012},
  pages = {C--3},
  url = {http://k-nagatani.org/pdf/2012-iSAIRAS-STO-online.pdf}
}

@inproceedings{Yoshida_Nagatani-2012-ImprovementsRobotQuince,
  author = {Tomoaki Yoshida and Keiji Nagatani and Satoshi Tadokoro and Takeshi Nishimura and Eiji Koyanagi},
  title = {Improvements to the rescue robot Quince Toward future indoor surveillance missions in the Fukushima Daiichi Nuclear Power Plant},
  booktitle = {Preprints of the 8th International Conference on Field and Service Robotics},
  year = {2012},
  url = {http://k-nagatani.org/pdf/2012-FSR-Yossy-online.pdf}
}

@inproceedings{Michael_Nagatani-2012-MappingEarthquakeDamaged,
  author = {Nathan Michael and Shaojie Shen and Kartik Mohta and Vijay Kumar and Keiji Nagatani and Yoshito Okada and Seiga Kiribayashi and Kazuki Otake and Kazuya Yoshida and Kazunori Ohno and Eijiro Takeuchi and Satoshi Tadokoro},
  title = {Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots},
  booktitle = {Preprints of the 8th International Conference on Field and Service Robotics},
  year = {2012},
  url = {http://k-nagatani.org/pdf/2012-FSR-Nathan-online.pdf}
}

@inproceedings{Nagatani-2012-3DThermography,
  author = {Keiji NAGATANI and Kazuki OTAKE and Kazuya Yoshida},
  title = {Three-dimensional Thermography Mapping for Mobile Rescue Robots},
  booktitle = {Preprints of the 8th International Conference on Field and Service Robotics},
  year = {2012},
  url = {http://k-nagatani.org/pdf/2012-FSR-KAZ-online.pdf}
}

@inproceedings{Sutoh_Nagatani-2012-LocomotionMechanism,
  author = {Masataku Sutoh and Kenji Nagaoka and Keiji Nagatani and Kazuya Yoshida},
  title = {Evaluation of Influence of Surface Shape of Locomotion Mechanism on Traveling Performance of Planetary Rovers},
  booktitle = {2012 IEEE International Conference on Robotics and Automation},
  year = {2012},
  pages = {3419--3424},
  url = {http://k-nagatani.org/pdf/2012-ICRA-STO-online.pdf}
}

@inproceedings{Inotsume_Nagatani-2012-ReconfigurationEffects,
  author = {Hiroaki Inotsume and Masataku Sutoh and Kenji Nagaoka and Keiji Nagatani and Kazuya Yoshida},
  title = {Evaluation of the Reconfiguration Effects of Planetary Rovers on their Lateral Traversing of Sandy Slopes},
  booktitle = {2012 IEEE International Conference on Robotics and Automation},
  year = {2012},
  pages = {3413--3418},
  url = {http://k-nagatani.org/pdf/2012-ICRA-INO-online.pdf}
}

@inproceedings{Sutoh_Nagatani-2012-TravellingPerformanceWithLugs,
  author = {M. Sutoh and K. Nagatani and K. Yoshida},
  title = {Analysis of the Traveling Performance of Planetary Rovers with Wheels Equipped with Lugs over Loose Soil},
  booktitle = {Earth and Space 2012},
  year = {2012},
  pages = {1--10},
  url = {http://k-nagatani.org/pdf/2012-EandS-STO-online.pdf}
}

@inproceedings{Ohki_Nagatani-2011-AutonomousMobileManipulator,
  author = {Takeshi OHKI and Kiichi SATO and Keiji Nagatani and Kazuya Yoshida},
  title = {Development and Evaluation of Autonomous Mobile Manipulator for Large Scale Outdoor Environment},
  booktitle = {SI International 2011},
  year = {2011},
  pages = {463--468},
  url = {http://k-nagatani.org/pdf/2011-SII-VON-online.pdf}
}

@inproceedings{Sutoh_Nagatani-2011-PlanetaryRoversOverSlope,
  author = {Masataku Sutoh and Ryosuke Yajima and Keiji Nagatani and Kazuya Yoshida},
  title = {Traveling Performance Estimation for Planetary Rovers over Slope},
  booktitle = {SI International 2011},
  year = {2011},
  pages = {884--889},
  url = {http://k-nagatani.org/pdf/2011-SII-STO-online.pdf}
}

@inproceedings{Nagatani-2011-Gamma-RayIrradiation,
  author = {Keiji Nagatani and Seiga Kiribayashi and Yoshito Okada and Kazuki Otake and Kazuya Yoshida and Satoshi Tadokoro and Takeshi Nishimura and Tomoaki Yoshida and Eiji Koyanagi and Mineo Fukushima and Shinji Kawatsuma},
  title = {Gamma-ray irradiation test of Electric components of rescue mobile robot Quince --Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011--},
  booktitle = {Proceedings of the 2011 IEEE Int'l Workshop on Safety,Security and Rescue Robotics},
  year = {2011},
  pages = {56--60},
  url = {http://k-nagatani.org/pdf/2011-SSRR-KEI-RAD-online.pdf}
}

@inproceedings{Nagatani-2011-RedesignOfRescueRobots,
  author = {Keiji Nagatani and Seiga Kiribayashi and Yoshito Okada and Satoshi Tadokoro and Takeshi Nishimura and Tomoaki Yoshida and Eiji Koyanagi and Yasushi Hada},
  title = {Redesign of rescue mobile robot Quince --Toward emergency response to the nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011--},
  booktitle = {Proceedings of the 2011 IEEE Int'l Workshop on Safety,Security and Rescue Robotics},
  year = {2011},
  pages = {13--18},
  url = {http://k-nagatani.org/pdf/2011-SSRR-KEI-Rev-online.pdf}
}

@inproceedings{Ishigami_Nagatani-2011-PathPlanningPRovers,
  author = {Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index},
  booktitle = {Intelligent Robots and Systems (IROS),2011 IEEE/RSJ International Conference on},
  year = {2011},
  pages = {601 -- 606}
}

@inproceedings{Sutoh_Nagatani-2011-TravellingPerformance,
  author = {Masataku Sutoh and Keiji Nagatani and Kazuya Yoshida},
  title = {Evaluation of influence of surface shape of wheel on traveling performance of planetary rovers over slope},
  booktitle = {The 17th International Society of Terrain Vehicle Systems International Conference},
  year = {2011},
  url = {http://k-nagatani.org/pdf/2011-ISTVS-STO-online.pdf}
}

@inproceedings{Sutoh_Nagatani-2010-EvaluationWheelSurface,
  author = {Masataku Sutoh and Tsuyoshi Ito and Keiji Nagatani and Kazuya Yoshida},
  title = {Influence Evaluation of Wheel Surface Profile on Traversability of Planetary Rovers},
  booktitle = {SI International 2010},
  year = {2010},
  pages = {67--72},
  url = {http://k-nagatani.org/pdf/2010-SII-STO-online.pdf}
}

@inproceedings{Rohmer_Nagatani-2010-IntegrationOfSubCrawlers,
  author = {Eric Rohmer and Kazunori 0hno and Tomoaki Yoshida and Keiji Nagatani and Eiji Koyanagi and Satoshi Tadokoro},
  title = {Integration of a Sub-Crawlers Autonomous Control in Quince Highly Mobile Rescue Robot},
  booktitle = {SI International 2010},
  year = {2010},
  pages = {78--83}
}

@inproceedings{Ohki_Nagatani-2010-SafetyPathPlanning,
  author = {Takeshi OHKI and Keiji NAGATANI and Kazuya YOSHIDA},
  title = {Safety Path Planning for Mobile Robot on Rough Terrain Considering Instability of Attitude Maneuver},
  booktitle = {SI International 2010},
  year = {2010},
  pages = {55--60},
  url = {http://k-nagatani.org/pdf/2010-SII-VON-online.pdf}
}

@inproceedings{Tadakuma-2010-WheelLeg,
  author = {Kenjiro Tadakuma and Riichiro Tadakuma and Akira Maruyama and Eric Rohmer and Keiji Nagatani and Kazuya Yoshida and Aigo Ming and Makoto Shimojo and Mitsuru Higashimori and Makoto Kaneko},
  title = {Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter},
  booktitle = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2010},
  url = {https://ieeexplore.ieee.org/abstract/document/5651912/authors#authors}
}

@inproceedings{Ohki_Nagatani-2010-CollisionAvoidanceIROS,
  author = {Takeshi OHKI and Keiji NAGATANI and Kazuya YOSHIDA},
  title = {Collision Avoidance Method for Mobile Robot Considering Motion and Personal Spaces of Evacuees},
  booktitle = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2010},
  pages = {1819--1824},
  url = {http://k-nagatani.org/pdf/2010-IROS-VON-online.pdf}
}

@inproceedings{Nagai_Nagatani-2010-NoncontactPositionEstimation,
  author = {Isaku Nagai and Keigo Watanabe and Keiji Nagatani and Kazuya Yoshida},
  title = {Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains},
  booktitle = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2010},
  pages = {3422--3427},
  url = {http://k-nagatani.org/pdf/2010-IROS-IN-online.pdf}
}

@inproceedings{Okada_Nagatani-2010-SharedAutonomyIROS,
  author = {Yoshito Okada and Keiji Nagatani and Kazuya Yoshida and Tomoaki Yoshida and Eiji Koyanagi},
  title = {Shared Autonomy System for Tracked Vehicles to Traverse Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning},
  booktitle = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2010},
  pages = {357--362},
  url = {http://k-nagatani.org/pdf/2010-IROS-OKA-online.pdf}
}

@inproceedings{Rohmer_Nagatani-2010-Quince,
  author = {Eric Rohmer and Tomoaki Yoshida and Kazunori 0hno and Keiji Nagatani and Satoshi Tadokoro and Eiji Koyanagi},
  title = {Quince: A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development},
  booktitle = {International Conference on Advanced Mechatronics},
  year = {2010},
  pages = {225--230}
}

@inproceedings{Okada_Nagatani-2010-SharedAutonomyICAM,
  author = {Yoshito Okada and Keiji Nagatani and Kazuya Yoshida and Tomoaki Yoshida and Eiji Koyanagi},
  title = {Shared Autonomy System for Turning Tracked Vehicles on Rough Terrain Using Real-Time Terrain Scanning},
  booktitle = {International Conference on Advanced Mechatronics},
  year = {2010},
  pages = {195--200},
  url = {http://k-nagatani.org/pdf/2010-ICAM-OKA-online.pdf}
}

@inproceedings{Sutoh_Nagatani-2010-TravelingPerformance,
  author = {M.Sutoh and J.Yusa and K.Nagatani and K.Yoshida},
  title = {Traveling Performance Evaluation for Planetary Rovers on Weak Soil},
  booktitle = {Proceedings of the 10th International Symposium on Artificial Intelligence,Robotics and Automation in Space},
  year = {2010},
  pages = {546--551},
  url = {http://k-nagatani.org/pdf/2010-iSAIRAS-STO-online.pdf}
}

@inproceedings{Nagatani-2010-Leg-trackLocomotionSSRR,
  author = {K.Nagatani and H.Kinoshita and K.Yoshida and K.Tadakuma and E.Koyanagi},
  title = {Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain},
  booktitle = {Proceedings of the 2010 IEEE International Workshop on Safety,Security and Rescue Robotics},
  year = {2010},
  url = {http://k-nagatani.org/pdf/2010-SSRR-KIN-online.pdf}
}

@inproceedings{Ohno_Nagatani-2010-TraialsOf3DMapConstruction,
  author = {Kazunori Ohno and Satoshi Tadokoro and Keiji Nagatani and Eiji Koyanagi and Tomoaki Yoshida},
  title = {Trials of 3-D Map Construction Using the Tele-Operated Tracked Vehicle Kenaf at Disaster City},
  booktitle = {2010 IEEE International Conference on Robotics and Automation},
  year = {2010},
  pages = {2864--2870}
}

@inproceedings{Ding_Nagatani-2010-TerramechanicsICRA,
  author = {Liang Ding and Keiji Nagatani and Keisuke Sato and Andres Mora and Kazuya Yoshida and Haibo Gao and Zongquan Deng},
  title = {Terramechanics-based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain},
  booktitle = {2010 IEEE International Conference on Robotics and Automation},
  year = {2010},
  pages = {4922--4927},
  url = {http://k-nagatani.org/pdf/2010-ICRA-DING-online.pdf}
}

@inproceedings{Tadakuma-2009-Armadillo,
  author = {Kenjiro Tadakuma and Riichiro Tadakuma and Akira Maruyama and Eric Rohmer and Keiji Nagatani and Kazuya Yoshida and Aiguo Ming and Shimojo Makoto and Mitsuru Higashimori and Makoto Kaneko},
  title = {Armadillo-inspired wheel-leg retractable module},
  booktitle = {2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year = {2009},
  url = {https://ieeexplore.ieee.org/abstract/document/5420604/authors#authors}
}

@inproceedings{Ohno_Nagatani-2009-3DMappingUnderGroundMall,
  author = {Kazunori Ohno and Satoshi Tadokoro and Keiji Nagatani and Eiji Koyanagi and Tomoaki Yoshida},
  title = {3-D Mapping of an Underground Mall Using a Tracked Vehicle with Four Sub-tracks},
  booktitle = {Proceedings of the 2009 IEEE International Workshop on Safety,Security and Rescue Robotics},
  year = {2009},
  pages = {1--6},
  url = {http://k-nagatani.org/pdf/2009-SSRR-Ohno-online.pdf}
}

@inproceedings{Nagatani-2009-TeleoperationAllTerrainRobot,
  author = {Keiji Nagatani and Naoki Tokunaga and Yoshito Okada and Kazuya Yoshida and Yasushi Hada and Tomoaki Yoshida and Eiji Koyanagi},
  title = {Teleoperation of all-terrain robot using continuous acquisition of three-dimensional environment under time-delayed narrow bandwidth communication},
  booktitle = {Proceedings of the 2009 IEEE International Workshop on Safety,Security and Rescue Robotics},
  year = {2009},
  pages = {1--6},
  url = {http://k-nagatani.org/pdf/2009-SSRR-TOK-online.pdf}
}

@inproceedings{Nagatani-2009-MultiRobotExploration,
  author = {Keiji Nagatani and Yoshito Okada and Naoki Tokunaga and Kazuya Yoshida and Seiga Kiribayashi and Kazunori Ohno and Eijiro Takeuchi and Satoshi Tadokoro and Hidehisa Akiyama and Itsuki Noda and Tomoaki Yoshida and Eiji Koyanagi},
  title = {Multi-Robot Exploration for Search and Rescue Missions -- A Report of Map Building in RoboCupRescue 2009 --},
  booktitle = {Proceedings of the 2009 IEEE International Workshop on Safety,Security and Rescue Robotics},
  year = {2009},
  pages = {1--6},
  url = {http://k-nagatani.org/pdf/2009-SSRR-RRT-online.pdf}
}

@inproceedings{Ding_Nagatani-2009-ParameterIdentification,
  author = {Liang Ding and Kazuya Yoshida and Keiji Nagatani and Haibo Gao and Zongquan Deng},
  title = {Parameter Identification for Planetary Soil Based on Decoupled Analytical Wheel-Soil Interaction Terramechanics Model},
  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2009},
  pages = {4122--4127},
  url = {http://k-nagatani.org/pdf/2009-IROS-Ding2-online.pdf}
}

@inproceedings{Ding_Nagatani-2009-SlipRatioPRover,
  author = {Liang Ding and Haibo Gao and Zongquan Deng and Kazuya Yoshida and Keiji Nagatani},
  title = {Slip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil: Definition and Estimation},
  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2009},
  pages = {3343--3348},
  url = {http://k-nagatani.org/pdf/2009-IROS-Ding1-online.pdf}
}

@inproceedings{Nagatani-2009-AccurateEstimation,
  author = {Keiji Nagatani and Ayako Ikeda and Keisuke Sato and Kazuya Yoshida},
  title = {Accurate Estimation of Drawbar Pull of Wheeled Mobile Robots Traversing Sandy Terrain Using Built-in Force Sensor Array Wheel},
  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2009},
  pages = {2373--2378},
  url = {http://k-nagatani.org/pdf/2009-IROS-AYA-online.pdf}
}

@inproceedings{Okada_Nagatani-2009-SemiAutonomousIROS,
  author = {Yoshito Okada and Keiji Nagatani and Kazuya Yoshida},
  title = {Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers},
  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2009},
  pages = {2815--2820},
  url = {http://k-nagatani.org/pdf/2009-IROS-OKA-online.pdf}
}

@inproceedings{Tadakuma_Nagatani-2009-TraowableTetrahedralRobot,
  author = {Kenjiro Tadakuma and Riichiro Tadakuma and Keiji Nagatani and Kazuya Yoshida and Aiguo Ming and Makoto Shimojo and Karl Iagnemma},
  title = {Throwable Tetrahedral Robot with Transformation Capability},
  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2009},
  pages = {2801--2808}
}

@inproceedings{Tadakuma_Nagatani-2009-BasicRunningTest,
  author = {Kenjiro Tadakuma and Riichiro Tadakuma and Keiji Nagatani and Kazuya Yoshida and Aiguo Ming and Makoto Shimojo and Karl Iagnemma},
  title = {Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility},
  booktitle = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2009},
  pages = {1679--1684}
}

@inproceedings{Nagatani-2009-ScanPointPlanning,
  author = {Keiji NAGATANI and Takayuki Matsuzawa and Kazuya Yoshida},
  title = {Scan-point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Environment},
  booktitle = {Proceedings of the 7th International Conference on Field and Service Robotics},
  year = {2009},
  pages = {207--217},
  url = {http://k-nagatani.org/pdf/2009-FSR-MAT-online.pdf}
}

@inproceedings{Yoshida_Nagatani-2009-FieldExperiment,
  author = {Tomoaki Yoshida and Keiji Nagatani and Eiji Koyanagi and Yasushi Hada and Kazunori Ohno and Shoichi Maeyama and Hidehisa Akiyama and Kazuya Yoshida and Satoshi Tadokoro},
  title = {Field Experiment on Multiple Mobile Robots conducted in an Underground Mall},
  booktitle = {Proceedings of the 7th International Conference on Field and Service Robotics},
  year = {2009},
  pages = {365--375},
  url = {http://k-nagatani.org/pdf/2009-FSR-HRT-online.pdf}
}

@inproceedings{Nagatani-2008-ContinuousAcquisition,
  author = {Keiji NAGATANI and Naoki TOKUNAGA and Yoshito OKADA and Kazuya YOSHIDA},
  title = {Continuous Acquisition of Three-Dimensional Environment Information for Tracked Vehicles on Uneven Terrain},
  booktitle = {Proceedings of the 2008 IEEE International Workshop on Safety,Security and Rescue Robotics},
  year = {2008},
  pages = {25--30},
  url = {http://k-nagatani.org/pdf/2008-SSRR-Keiji-online.pdf}
}

@inproceedings{Rohmer_Nagatani-2008-ActionPlanner,
  author = {Eric Rohmer and Giulio Reina and Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Action Planner of Hybrid Leg-Wheel Robots for Lunar and Planetary Exploration},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2008},
  pages = {3902--3907},
  url = {http://k-nagatani.org/pdf/2008-IROS-Eric-online.pdf}
}

@inproceedings{Nagatani-2008-SemiAutonomousTraversal,
  author = {Keiji Nagatani and Ayato Yamasaki and Kazuya Yoshida and Tomoaki Yoshida and Eiji Koyanagi},
  title = {Semi-Autonomous Traversal on Uneven Terrain for a Tracked Vehicle Using Autonomous Control of Active Flippers},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2008},
  pages = {2667--2672},
  url = {http://k-nagatani.org/pdf/2008-IROS-Keiji-online.pdf}
}

@inproceedings{Tadakuma_Nagatani-2008-CrossSectionUnit,
  author = {Kenjiro Tadakuma and Riichiro Tadakuma and Keiji Nagatani and Kazuya Yoshida and Steven Peters and Martin Udengaard and Karl Iagnemma},
  title = {Crawler Vehicle with Circular Cross-Section Unit to Realize Sideways Motion},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2008},
  pages = {2422--2428}
}

@inproceedings{Ishigami_Nagatani-2008-TrafficabilityAnalysis,
  author = {Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Trafficability Analysis for Lunar/Planetary Exploration Rover Using Thrust-Cornering Characteristic Diagram},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2008},
  pages = {2228--2233},
  url = {http://k-nagatani.org/pdf/2008-IROS-Genya-online.pdf}
}

@inproceedings{Tadakuma_Nagatani-2008-TrackforSidewaysMotion,
  author = {Kenjiro Tadakuma and Riichiro Tadakuma and Hiroaki Kinoshita and Keiji Nagatani and Kazuya Yoshida and Martin Udengaard and Karl Iagnemma},
  title = {Mechanical Design of Cylindrical Track for Sideways Motion},
  booktitle = {2008 IEEE International Conference on Mechatronics and Automation},
  year = {2008},
  pages = {WA2--4}
}

@inproceedings{Mora_Nagatani-2008-LunarExplorationRovers,
  author = {Andres Mora and Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Sensing Position Planning for Lunar Exploration Rovers},
  booktitle = {2008 IEEE International Conference on Mechatronics and Automation},
  year = {2008},
  pages = {TA3--3}
}

@inproceedings{Yoshida_Nagatani-2008-ARLISSCompetition,
  author = {Kazuya YOSHIDA and Yuji SAKAMOTO and Keiji NAGATANI},
  title = {ARLISS Comeback Competition -- Six-year History of Autonomous Rover Challenge --},
  booktitle = {26th International Symposium on Space Technology and Science},
  year = {2008}
}

@inproceedings{Reina_Nagatani-2008-Vision-BasedSlipAngle,
  author = {Giulio Reina and Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Vision-based Estimation of Slip Angle for Mobile Robots and Planetary Rovers},
  booktitle = {2008 IEEE International Conference on Robotics and Automation,},
  year = {2008},
  pages = {486--491},
  url = {http://k-nagatani.org/pdf/2008-ICRA-Giulio-online.pdf}
}

@inproceedings{Ishigami_Nagatani-2008-PlanetaryExploreICRA,
  author = {Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Slope Traversal Experiments with Slip Compensation Control for Lunar/Planetary Exploration Rover},
  booktitle = {2008 IEEE International Conference on Robotics and Automation},
  year = {2008},
  pages = {2295--2300},
  url = {http://k-nagatani.org/pdf/2008-ICRA-Ishigami-online.pdf}
}

@inproceedings{Endo_Nagatani-2007-SlipCompensationIROS,
  author = {Daisuke Endo and Yoshito Okada and Keiji Nagatani and Kazuya Yoshida},
  title = {Path Following Control for Tracked Vehicles Based on Slip-Compensating Odometry},
  booktitle = {Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2007},
  pages = {2871--2876},
  url = {http://k-nagatani.org/pdf/2007-IROS-Endo-online.pdf}
}

@inproceedings{Nagatani-2007-Six-WheelRobot,
  author = {Keiji NAGATANI and Ayato YAMASAKI and Kazuya YOSHIDA and Tadashi ADACHI},
  title = {Development and Control Method of Six-Wheel Robot with Rocker Structure},
  booktitle = {Proceedings of SSRR (Safety Security and Rescue Robotics)},
  year = {2007},
  url = {http://k-nagatani.org/pdf/2007-SSRR-Keiji-online.pdf}
}

@inproceedings{Reina_Nagatani-2007-KalmanFiltering,
  author = {Giulio Reina and Andres Mora Vargas and Keiji Nagatani and Kazuya Yoshida},
  title = {Adaptive Kalman Filtering for GPS-based Mobile Robot Localization},
  booktitle = {Proceedings of SSRR (Safety Security and Rescue Robotics)},
  year = {2007}
}

@inproceedings{Tyoshida-2007-Kenaf,
  author = {Tomoaki Yoshida and Eiji Koyanagi and Satoshi Tadokoro and Kazuya Yoshida and Keiji Nagatani and Kazunori Ohno and Takashi Tsubouchi and Shoichi Maeyama and Noda Itsuki and Takizawa Osamu and Yasushi Hada},
  title = {A High Mobility 6-Crawler Mobile Robot “Kenaf”},
  booktitle = {Fourth International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED 2007)},
  year = {2007},
  pages = {38}
}

@inproceedings{Nagatani-2007-NetworkedRoboticSystemFSR,
  author = {Keiji Nagatani and Kazuya Yoshida and Kiyoshi Kiyokawa and Yasushi Yagi and Tadashi Adachi and Hiroaki Saitoh and Toshiya Suzuki and Osamu Takizawa},
  title = {Development of a Networked Robotic System for Disaster Mitigation -System Description of Multi-robot System and Report of Performance Tests-},
  booktitle = {Proceedings of the 6th International Conference on Field and Service Robotics},
  year = {2007},
  pages = {453--462},
  url = {http://k-nagatani.org/pdf/2007-FSR-Keiji-online.pdf}
}

@inproceedings{Nagatani-2007-ImprovementICRA,
  author = {Keiji NAGATANI and Daisuke ENDO and Kazuya YOSHIDA},
  title = {Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage},
  booktitle = {Proceedings of the International Conference on Robotics and Automation},
  year = {2007},
  pages = {2752--2757},
  url = {http://k-nagatani.org/pdf/2007-ICRA-Endo-online.pdf}
}

@inproceedings{Ishigami_Nagatani-2007-PathPlanningICRA,
  author = {Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Path Planning for Planetary Exploration Rovers and Its Evaluation Based on Wheel Slip Dynamics},
  booktitle = {Proceedings of the International Conference on Robotics and Automation},
  year = {2007},
  pages = {2361--2366},
  url = {http://k-nagatani.org/pdf/2007-ICRA-Ishigami-online.pdf}
}

@inproceedings{Yoshida_Nagatani-2006-SoilMechanics,
  author = {K. Yoshida and K. Nagatani and G. Ishigami and S. Shimizu and K. Sekimoto and A. Miyahara T. Yokoyama},
  title = {Soil Mechanics of Lunar Regolith Simulants for Probe Landing and Rover Locomotion},
  booktitle = {Preprints of Space Resources Roundtable VIII,on Webpage},
  year = {2006}
}

@inproceedings{Ishigami_Nagatani-2006-SlipCompensation,
  author = {Genya Ishigami and Keiji Nagatani and Kazuya Yoshida},
  title = {Path Following Control with Slip Compensation on Loose Soil for Exploration Rover},
  booktitle = {Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2006},
  pages = {5552--5557},
  url = {http://k-nagatani.org/pdf/2006-IROS-Genya-online.pdf}
}

@inproceedings{Mora_Nagatani-2006-NetworkedRoboticSystem,
  author = {Andres E. Mora Vargas and Kenzuke Mizuuchi and Daisuke Endo and Eric Rohmer and Keiji Nagatani and Kazuya Yoshida},
  title = {Development of a Networked Robotic System for Disaster Mitigation -Navigation System based on 3D Geometry Acquisition-},
  booktitle = {Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2006},
  pages = {4821--4826},
  url = {http://k-nagatani.org/pdf/2006-IROS-Andres-online.pdf}
}

@inproceedings{Ishigami_Nagatani-2006-SlopeTraversalForRover,
  author = {G.Ishigami and A.Miwa and K.Nagatani and K.Yoshida},
  title = {Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover},
  booktitle = {Proc. of the 25th International Sympo. on Space Technology and Science},
  year = {2006},
  pages = {1025--1030},
  url = {http://k-nagatani.org/pdf/2006-ISTS-Genya-online.pdf}
}

@inproceedings{Chacin_Nagatani-2006-AsteroidSurfaceLocomotion,
  author = {M.Chacin and K.Yoshida and K.Nagatani},
  title = {Next-Generation Rover Development for Asteroid Surface Exploration: System Description},
  booktitle = {25th International Symposium on Space Technology and Science},
  year = {2006},
  pages = {2006--d--101P}
}

@inproceedings{Yoshida_Nagatani-2006-NetworkedRoboticSystem,
  author = {Kazuya Yoshida and Keiji Nagatani and Kiyoshi Kiyokawa and Yasushi Yagi and Tadashi Adachi and Hiroaki Saitoh and Hiroyuki Tanaka and Hiroyuki Ohno},
  title = {Development of a Networked Robotic System for Disaster Mitigation - Test Bed Experiments for Remote Operation Over Rough Terrain and High Resolution 3D Geometry Acquisition -},
  booktitle = {Proceedings of the 5th International Conference on Field and Service Robotics},
  year = {2006},
  pages = {415--425},
  url = {http://k-nagatani.org/pdf/2005-FSR-SCOPE-online.pdf}
}

@inproceedings{Yamada_Nagatani-2006-Long-TermActivities,
  author = {Tomofumi Yamada and Keiji Nagatani and Yutaka Tanaka},
  title = {Long-term Activities for Autonomous Mobile Robot},
  booktitle = {Proceedings of the 5th International Conference on Field and Service Robotics},
  year = {2006},
  pages = {389--400},
  url = {http://k-nagatani.org/pdf/2005-FSR-online.pdf}
}

@inproceedings{Ishida_Nagatani-2004-3DLocalizationAndMapping,
  author = {Hiroshi Ishida and Keiji Nagatani and Yutaka Tanaka},
  title = {Three-Dimensional Localization and Mapping for a Crawler-type Mobile Robot in an Occluded Area Using the Scan Matching Method},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2004},
  pages = {449--454},
  url = {http://k-nagatani.org/pdf/2004-iros-online.pdf}
}

@inproceedings{Shan_Nagatani-2004-PickUpMotion,
  author = {Wanli Shan and Keiji Nagatani and Yutaka Tanaka},
  title = {Motion planning for Mobile Manipulator to Pick up an Object while Base Robot's Moving},
  booktitle = {Proc. of IEEE International Conference on Robotics and Biomimetics},
  year = {2004},
  pages = {307},
  url = {http://k-nagatani.org/pdf/2004-robio-shan-online.pdf}
}

@inproceedings{Takahama_Nagatani-2004-DualArmMobileManipulator,
  author = {Takayasu Takahama and Keiji Nagatani and Yutaka Tanaka},
  title = {Motion Planning for Dual-arm Mobile Manipulator --Realization of ``Tidying a Room Motion'' --},
  booktitle = {Proc. of International Conference on Robotics and Automation},
  year = {2004},
  pages = {4338--4343},
  url = {http://k-nagatani.org/pdf/2004-icra-online.pdf}
}

@inproceedings{Nagatani-2003-3D-LocalizationAndMapping,
  author = {Keiji Nagatani and Hiroshi Ishida and Satoshi Yamanaka and Yutaka Tanaka},
  title = {Three-dimensional Localization and Mapping for Mobile Robot in Disaster Environments},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2003},
  pages = {3112--3117},
  url = {http://k-nagatani.org/pdf/2003-iros-online.pdf}
}

@inproceedings{Irie_Nagatani-2003-RiskOfCollision,
  author = {Masahiro Irie and Keiji Nagatani and Akio Gofuku},
  title = {Path Evaluation for a Mobile Robot Based on a Risk of Collision},
  booktitle = {Proc. of Computational Intelligence in Robotics and Automation},
  year = {2003},
  pages = {485--490},
  url = {http://k-nagatani.org/pdf/2003-cira-online.pdf}
}

@inproceedings{Nagatani-2002-ManipulabilityMobileManipulator,
  author = {Keiji Nagatani and Tomonobu Hirayama and Akio Gofuku and Yutaka Tanaka},
  title = {Motion Planning for Mobile Manipulator with Keeping Manipulability},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2002},
  pages = {1663--1668},
  url = {http://k-nagatani.org/pdf/2002-IROS-online.pdf}
}

@inproceedings{Nagatani-2002-GVG-Implementation,
  author = {Keiji Nagatani and Yosuke Iwai and Yutaka Tanaka},
  title = {Sensor Based Navigation for Car-like Mobile Robots Based on Generalized Voronoi Graph -Implementation and Experiment-},
  booktitle = {Proc. of International Symposium on Advanced Vehicle Control},
  year = {2002},
  pages = {469--474},
  url = {http://k-nagatani.org/pdf/2002-AVEC-online.pdf}
}

@inproceedings{Nagatani-2001-Car-likeRobotsGVG,
  author = {Keiji Nagatani and Yosuke Iwai and Yutaka Tanaka},
  title = {Sensor Based Navigation for car-like mobile robots using Generalized Voronoi Graph},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2001},
  pages = {1017--1022},
  url = {http://k-nagatani.org/pdf/2001-IROS-online.pdf}
}

@inproceedings{Nagatani-2000-ImprovementOdometry,
  author = {Keiji Nagatani and Satoshi Tachibana and Makoto Sofue and YutakaTanaka},
  title = {Improvement of Odometry for Omnidirectional Vehicle using Optical Flow Information},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {2000},
  pages = {468--473},
  url = {http://k-nagatani.org/pdf/2000-Iros-online.pdf}
}

@inproceedings{Nagatani-2000-ActionPrimitives,
  author = {Keiji Nagatani and Yutaka Tanaka},
  title = {Motion Design for Autonomous Mobile Manipulator based on Programming StyleAction Primitive},
  booktitle = {Proc. of International Conference on Industrial Electronics,Control and Instrunmentation},
  year = {2000},
  pages = {399--404},
  url = {http://k-nagatani.org/pdf/2000-iecon-online.pdf}
}

@inproceedings{Nagatani-1999-ReducedVoronoiGraph,
  author = {Keiji Nagatani and Howie Choset},
  title = {Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {1999},
  pages = {1687--1692},
  url = {http://k-nagatani.org/pdf/1999-iros-online.pdf}
}

@inproceedings{Nagatani-1999-Arc-TransvaersalMedianICRA,
  author = {Keiji Nagatani and Howie Choset and Nicole Lazar},
  title = {The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy},
  booktitle = {Proc. of International Conference on Robotics and Automation},
  year = {1999},
  pages = {644--651},
  url = {http://k-nagatani.org/pdf/1999-icra-Howie-online.pdf}
}

@inproceedings{Nagatani-1998-WithoutExplicitLocalization,
  author = {Keiji Nagatani and HowieChoset and SebastianThrun},
  title = {Towards Exact Localization without Explicit Localization},
  booktitle = {Proc. of International Conference on Robotics and Automation},
  year = {1998},
  pages = {342--348},
  url = {http://k-nagatani.org/pdf/1998-icra-online.pdf}
}

@inproceedings{Nagatani-1998-DoorOpeningBehavior,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {Autonomous Mobile Robot Navigation Including Door Opening Behavior (System Integration of Mobile Manipulator to Adapt Real Environment)},
  booktitle = {Field & Service Robotics Springer-Verlag},
  year = {1998},
  pages = {195--202},
  url = {http://k-nagatani.org/pdf/1997-fsr-online.pdf}
}

@inproceedings{Choset_Nagatani-1997-SensorBasedPlanning,
  author = {Howie Choset and Keiji Nagatani and Alfred Rizzi},
  title = {Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph},
  booktitle = {Proc. of SPIE Mobile Robotics},
  year = {1997},
  pages = {72--93},
  url = {http://k-nagatani.org/pdf/1997-spie-online.pdf}
}

@inproceedings{Nagatani-1996-PassThroughDoorWay,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {Realizing a Behavior to Pass through a Door-way by an Autonomous Mobile Manipulator},
  booktitle = {Proc. of U.S.-Japan Graduate Student Forum in Robotics},
  year = {1996},
  pages = {73--76}
}

@inproceedings{Nagatani-1996-AutonomousNavigation,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {Autonomous Navigation of Mobile Manipulator in In-Door Environment with Opening / Closing Doors (Architecture of Controller and Experiment)},
  booktitle = {Proc. of Fourth International Conference on Control,Automation,Robotics and Vision},
  year = {1996},
  pages = {267--271}
}

@inproceedings{Nagatani-1996-DesignControlSystem,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {Designing Strategy and Implementation of Mobile Manipulator Control System for Opening Door},
  booktitle = {Proc. of International Conference on Robotics and Automation},
  year = {1996},
  pages = {2828--2834}
}

@inproceedings{Nagatani-1995-FunctionallyDistributed,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {An Autonomous Mobile Manipulator with a Functionally Distributed Control System},
  booktitle = {Proc. of International Conference on Automation},
  year = {1995},
  pages = {165--168}
}

@inproceedings{Nagatani-1995-RobustNavigation,
  author = {Keiji Nagatani and Shin'ichi Yuta and shoichi Maeyama},
  title = {Realizing a Robust Navigation Function on a Small Size Autonomous Mobile Robot},
  booktitle = {Proc. of International Workshop on Some Critical Issues in Robotics},
  year = {1995},
  pages = {1--8}
}

@inproceedings{Nagatani-1995-ExperimentOpenDoor,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {An Experiment on Opening-Door-Behavior by an Autonomous Mobile Robot with a Manipulator},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {1995},
  pages = {45--50}
}

@inproceedings{Yuta_Nagatani-1995-NavigationFunction,
  author = {Shin'ichi Yuta and Keiji Nagatani},
  title = {Realizing a Navigation Function on Small-sized Autonomous Robot in In-door Environment},
  booktitle = {Proc. of Robots for Australian Industries},
  year = {1995},
  pages = {237--244}
}

@inproceedings{Nagatani-1994-DesignOpenDoor,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {Designing a Behavior to Open a Door and to Pass through a Door-way using a Mobile Robot Equipped with a Manipulator},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {1994},
  pages = {847--853}
}

@inproceedings{Nagatani-1993-SensingPointPlanning,
  author = {Keiji Nagatani and Shin'ichi Yuta},
  title = {Path and Sensing Point Planning for Mobile Robot Navigation to Minimize the Risk of Collision},
  booktitle = {Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  year = {1993},
  pages = {2198--2203},
  url = {http://k-nagatani.org/pdf/1993-iros-online.pdf}
}