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  • Review
  • Open Access
324 Citations
190,725 Views
18 Pages

Ethical Dilemmas and Privacy Issues in Emerging Technologies: A Review

  • Lubna Luxmi Dhirani,
  • Noorain Mukhtiar,
  • Bhawani Shankar Chowdhry and
  • Thomas Newe

19 January 2023

Industry 5.0 is projected to be an exemplary improvement in digital transformation allowing for mass customization and production efficiencies using emerging technologies such as universal machines, autonomous and self-driving robots, self-healing ne...

(This article belongs to the Special Issue Cyber-Physical Systems and Industry 4.0)
  • Review
  • Open Access
319 Citations
154,307 Views
46 Pages

19 April 2023

The emergence of the Internet of Things (IoT) technology has brought about tremendous possibilities, but at the same time, it has opened up new vulnerabilities and attack vectors that could compromise the confidentiality, integrity, and availability...

(This article belongs to the Section Internet of Things)
  • Review
  • Open Access
3,126 Citations
147,834 Views
29 Pages

Machine Learning in Agriculture: A Review

  • Konstantinos G. Liakos,
  • Patrizia Busato,
  • Dimitrios Moshou,
  • Simon Pearson and
  • Dionysis Bochtis

14 August 2018

Machine learning has emerged with big data technologies and high-performance computing to create new opportunities for data intensive science in the multi-disciplinary agri-technologies domain. In this paper, we present a comprehensive review of rese...

(This article belongs to the Special Issue Sensors in Agriculture 2018)
  • Review
  • Open Access
  • Best Paper Award
1,059 Citations
125,743 Views
37 Pages

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

  • De Jong Yeong,
  • Gustavo Velasco-Hernandez,
  • John Barry and
  • Joseph Walsh

18 March 2021

With the significant advancement of sensor and communication technology and the reliable application of obstacle detection techniques and algorithms, automated driving is becoming a pivotal technology that can revolutionize the future of transportati...

(This article belongs to the Special Issue State-of-the-Art Sensors Technologies in Ireland 2020)
  • Article
  • Open Access
292 Citations
119,086 Views
23 Pages

An IoT-Based Smart Home Automation System

  • Cristina Stolojescu-Crisan,
  • Calin Crisan and
  • Bogdan-Petru Butunoi

30 May 2021

Home automation has achieved a lot of popularity in recent years, as day-to-day life is getting simpler due to the rapid growth of technology. Almost everything has become digitalized and automatic. In this paper, a system for interconnecting sensors...

(This article belongs to the Special Issue Selected Papers from the International Symposium on Electronics and Telecommunications ISETC 2020)
  • Article
  • Open Access
47 Citations
117,561 Views
15 Pages

Cross Dataset Analysis for Generalizability of HRV-Based Stress Detection Models

  • Mouna Benchekroun,
  • Pedro Elkind Velmovitsky,
  • Dan Istrate,
  • Vincent Zalc and ,
  • Plinio Pelegrini Morita and
  • Dominique Lenne
  • + 1 author+ 0 author

6 February 2023

Stress is an increasingly prevalent mental health condition across the world. In Europe, for example, stress is considered one of the most common health problems, and over USD 300 billion are spent on stress treatments annually. Therefore, monitoring...

(This article belongs to the Special Issue AI on Biomedical Signal Sensing and Processing for Health Monitoring)
  • Review
  • Open Access
1,993 Citations
117,379 Views
36 Pages

7 July 2014

Electronic Textiles (e-textiles) are fabrics that feature electronics and interconnections woven into them, presenting physical flexibility and typical size that cannot be achieved with other existing electronic manufacturing techniques. Components a...

(This article belongs to the Special Issue Printed Sensors)
  • Review
  • Open Access
1,429 Citations
111,507 Views
59 Pages

Electrochemical Biosensors - Sensor Principles and Architectures

  • Dorothee Grieshaber,
  • Robert MacKenzie,
  • Janos Vörös and
  • Erik Reimhult

7 March 2008

Quantification of biological or biochemical processes are of utmost importance for medical, biological and biotechnological applications. However, converting the biological information to an easily processed electronic signal is challenging due to th...

(This article belongs to the Special Issue Utilization of Electrochemical Sensors and Biosensors in Biochemistry and Molecular Biology)
  • Review
  • Open Access
  • Best Paper Award
1,906 Citations
109,653 Views
35 Pages

5 February 2021

A biosensor is an integrated receptor-transducer device, which can convert a biological response into an electrical signal. The design and development of biosensors have taken a center stage for researchers or scientists in the recent decade owing to...

(This article belongs to the Section Sensing and Imaging)
  • Article
  • Open Access
2,630 Citations
107,163 Views
25 Pages

18 January 2016

Human activity recognition (HAR) tasks have traditionally been solved using engineered features obtained by heuristic processes. Current research suggests that deep convolutional neural networks are suited to automate feature extraction from raw sens...

(This article belongs to the Special Issue Advances on Data Transmission and Analysis for Wearable Sensors Systems)
  • Review
  • Open Access
411 Citations
106,879 Views
32 Pages

Smart Transportation: An Overview of Technologies and Applications

  • Damilola Oladimeji,
  • Khushi Gupta,
  • Nuri Alperen Kose,
  • Kubra Gundogan and ,
  • Linqiang Ge and
  • Fan Liang
  • + 1 author+ 0 author

11 April 2023

As technology continues to evolve, our society is becoming enriched with more intelligent devices that help us perform our daily activities more efficiently and effectively. One of the most significant technological advancements of our time is the In...

(This article belongs to the Special Issue Evolution of IoT and IIoT: Opportunities, Challenges, and Applications)
  • Review
  • Open Access
525 Citations
102,091 Views
68 Pages

22 September 2023

Cutting-edge technologies, with a special emphasis on the Internet of Things (IoT), tend to operate as game changers, generating enormous alterations in both traditional and modern enterprises. Understanding multiple uses of IoT has become vital for...

(This article belongs to the Section Internet of Things)
  • Review
  • Open Access
701 Citations
98,564 Views
48 Pages

14 February 2020

Water management is paramount in countries with water scarcity. This also affects agriculture, as a large amount of water is dedicated to that use. The possible consequences of global warming lead to the consideration of creating water adaptation mea...

(This article belongs to the Special Issue Surveys of Sensor Networks and Sensor Systems Deployments)
  • Review
  • Open Access
664 Citations
97,881 Views
36 Pages

Integration of IoT-Enabled Technologies and Artificial Intelligence (AI) for Smart City Scenario: Recent Advancements and Future Trends

  • Md Eshrat E. Alahi,
  • Arsanchai Sukkuea,
  • Fahmida Wazed Tina,
  • Anindya Nag and ,
  • Wattanapong Kurdthongmee,
  • Korakot Suwannarat and
  • Subhas Chandra Mukhopadhyay
  • + 2 authors+ 0 author

30 May 2023

As the global population grows, and urbanization becomes more prevalent, cities often struggle to provide convenient, secure, and sustainable lifestyles due to the lack of necessary smart technologies. Fortunately, the Internet of Things (IoT) has em...

(This article belongs to the Section Communications)
  • Article
  • Open Access
71 Citations
94,991 Views
17 Pages

Enhanced Deep Learning Approach for Accurate Eczema and Psoriasis Skin Detection

  • Mohamed Hammad,
  • Paweł Pławiak,
  • Mohammed ElAffendi,
  • Ahmed A. Abd El-Latif and
  • Asmaa A. Abdel Latif

21 August 2023

This study presents an enhanced deep learning approach for the accurate detection of eczema and psoriasis skin conditions. Eczema and psoriasis are significant public health concerns that profoundly impact individuals’ quality of life. Early de...

(This article belongs to the Section Sensing and Imaging)
  • Article
  • Open Access
1,460 Citations
93,550 Views
18 Pages

A Study of LoRa: Long Range & Low Power Networks for the Internet of Things

  • Aloÿs Augustin,
  • Jiazi Yi,
  • Thomas Clausen and
  • William Mark Townsley

9 September 2016

LoRa is a long-range, low-power, low-bitrate, wireless telecommunications system, promoted as an infrastructure solution for the Internet of Things: end-devices use LoRa across a single wireless hop to communicate to gateway(s), connected to the Inte...

(This article belongs to the Special Issue Enabling the Move from Wireless Sensor Networks to Internet of Things and Cyber-Physical Systems)
  • Review
  • Open Access
1,281 Citations
93,055 Views
21 Pages

1 October 2021

Electrochemical impedance spectroscopy (EIS) is a powerful technique used for the analysis of interfacial properties related to bio-recognition events occurring at the electrode surface, such as antibody–antigen recognition, substrate–enzyme interact...

(This article belongs to the Special Issue Advances in Optical, Fluorescent and Luminescent Biosensors)
  • Article
  • Open Access
1,105 Citations
90,453 Views
23 Pages

DeepFruits: A Fruit Detection System Using Deep Neural Networks

  • Inkyu Sa,
  • Zongyuan Ge,
  • Feras Dayoub,
  • Ben Upcroft and ,
  • Tristan Perez and
  • Chris McCool
  • + 1 author+ 0 author

3 August 2016

This paper presents a novel approach to fruit detection using deep convolutional neural networks. The aim is to build an accurate, fast and reliable fruit detection system, which is a vital element of an autonomous agricultural robotic platform; it i...

(This article belongs to the Special Issue Vision-Based Sensors in Field Robotics)
  • Review
  • Open Access
2,812 Citations
89,822 Views
19 Pages

Metal Oxide Gas Sensors: Sensitivity and Influencing Factors

  • Chengxiang Wang,
  • Longwei Yin,
  • Luyuan Zhang,
  • Dong Xiang and
  • Rui Gao

15 March 2010

Conductometric semiconducting metal oxide gas sensors have been widely used and investigated in the detection of gases. Investigations have indicated that the gas sensing process is strongly related to surface reactions, so one of the important param...

(This article belongs to the Special Issue Metal-Oxide Based Nanosensors)
  • Review
  • Open Access
  • Best Paper Award
674 Citations
89,736 Views
37 Pages

21 June 2020

The goal of this paper is to review current methods of energy harvesting, while focusing on piezoelectric energy harvesting. The piezoelectric energy harvesting technique is based on the materials’ property of generating an electric field when...

(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Romania 2020)
  • Article
  • Open Access
73 Citations
88,661 Views
17 Pages

Accuracy of Three Commercial Wearable Devices for Sleep Tracking in Healthy Adults

  • Rebecca Robbins,
  • Matthew D. Weaver,
  • Jason P. Sullivan,
  • Stuart F. Quan and ,
  • Katherine Gilmore,
  • Samantha Shaw,
  • Abigail Benz,
  • Salim Qadri,
  • Laura K. Barger and
  • Jeanne F. Duffy
  • + 6 authors+ 1 author

10 October 2024

Sleep tracking by consumers is becoming increasingly prevalent; yet, few studies have evaluated the accuracy of such devices. We sought to evaluate the accuracy of three devices (Oura Ring Gen3, Fitbit Sense 2, and Apple Watch Series 8) compared to t...

(This article belongs to the Section Wearables)
  • Review
  • Open Access
272 Citations
87,674 Views
47 Pages

Position and Speed Control of Brushless DC Motors Using Sensorless Techniques and Application Trends

  • José Carlos Gamazo-Real,
  • Ernesto Vázquez-Sánchez and
  • Jaime Gómez-Gil

19 July 2010

This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and reliability o...

(This article belongs to the Section Chemical Sensors)
  • Review
  • Open Access
862 Citations
87,599 Views
55 Pages

Machine Learning in Agriculture: A Comprehensive Updated Review

  • Lefteris Benos,
  • Aristotelis C. Tagarakis,
  • Georgios Dolias,
  • Remigio Berruto and ,
  • Dimitrios Kateris and
  • Dionysis Bochtis
  • + 1 author+ 0 author

28 May 2021

The digital transformation of agriculture has evolved various aspects of management into artificial intelligent systems for the sake of making value from the ever-increasing data originated from numerous sources. A subset of artificial intelligence,...

(This article belongs to the Collection Sensors and Robotics for Digital Agriculture)
  • Review
  • Open Access
2,014 Citations
86,368 Views
69 Pages

Brain Computer Interfaces, a Review

  • Luis Fernando Nicolas-Alonso and
  • Jaime Gomez-Gil

31 January 2012

A brain-computer interface (BCI) is a hardware and software communications system that permits cerebral activity alone to control computers or external devices. The immediate goal of BCI research is to provide communications capabilities to severely...

(This article belongs to the Special Issue Collaborative Sensors)
  • Article
  • Open Access
239 Citations
83,948 Views
20 Pages

Design and Implementation of ESP32-Based IoT Devices

  • Darko Hercog,
  • Tone Lerher,
  • Mitja Truntič and
  • Oto Težak

27 July 2023

The Internet of Things (IoT) has become a transformative technology with great potential in various sectors, including home automation, industrial control, environmental monitoring, agriculture, wearables, health monitoring, and others. The growing p...

(This article belongs to the Special Issue IoT Sensors and Technologies for Education)
  • Feature Paper
  • Review
  • Open Access
1,243 Citations
83,833 Views
45 Pages

Wearable Sensors for Remote Health Monitoring

  • Sumit Majumder,
  • Tapas Mondal and
  • M. Jamal Deen

12 January 2017

Life expectancy in most countries has been increasing continually over the several few decades thanks to significant improvements in medicine, public health, as well as personal and environmental hygiene. However, increased life expectancy combined w...

(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Canada 2017)
  • Article
  • Open Access
220 Citations
83,145 Views
15 Pages

A Smart Waste Management Solution Geared towards Citizens

  • Kellow Pardini,
  • Joel J.P.C. Rodrigues,
  • Ousmane Diallo,
  • Ashok Kumar Das and ,
  • Victor Hugo C. de Albuquerque and
  • Sergei A. Kozlov
  • + 1 author+ 0 author

22 April 2020

Global industry is undergoing major transformations with the genesis of a new paradigm known as the Internet of Things (IoT) with its underlying technologies. Many company leaders are investing more effort and money in transforming their services to...

(This article belongs to the Section Internet of Things)
  • Article
  • Open Access
3,623 Citations
82,376 Views
17 Pages

6 October 2018

LiDAR-based or RGB-D-based object detection is used in numerous applications, ranging from autonomous driving to robot vision. Voxel-based 3D convolutional networks have been used for some time to enhance the retention of information when processing...

(This article belongs to the Section Remote Sensors)
  • Review
  • Open Access
1,149 Citations
80,842 Views
41 Pages

Non-Destructive Techniques Based on Eddy Current Testing

  • Javier García-Martín,
  • Jaime Gómez-Gil and
  • Ernesto Vázquez-Sánchez

28 February 2011

Non-destructive techniques are used widely in the metal industry in order to control the quality of materials. Eddy current testing is one of the most extensively used non-destructive techniques for inspecting electrically conductive materials at ver...

(This article belongs to the Special Issue Advanced Sensing Technology for Nondestructive Evaluation)
  • Feature Paper
  • Review
  • Open Access
620 Citations
80,091 Views
24 Pages

Sensor Technologies for Intelligent Transportation Systems

  • Juan Guerrero-Ibáñez,
  • Sherali Zeadally and
  • Juan Contreras-Castillo

16 April 2018

Modern society faces serious problems with transportation systems, including but not limited to traffic congestion, safety, and pollution. Information communication technologies have gained increasing attention and importance in modern transportation...

(This article belongs to the Special Issue The Architectures, Systems, and Applications of Internet of Things for Smart Cities)
  • Article
  • Open Access
293 Citations
80,019 Views
17 Pages

22 August 2022

The primary aim of this study was to examine the validity of six commonly used wearable devices, i.e., Apple Watch S6, Garmin Forerunner 245 Music, Polar Vantage V, Oura Ring Generation 2, WHOOP 3.0 and Somfit, for assessing sleep. The secondary aim...

(This article belongs to the Special Issue Applications, Wearables and Sensing Technology in Sports and Physical Activity)
  • Article
  • Open Access
827 Citations
79,664 Views
20 Pages

29 August 2012

Bluetooth Low Energy (BLE) is an emerging low-power wireless technology developed for short-range control and monitoring applications that is expected to be incorporated into billions of devices in the next few years. This paper describes the main fe...

(This article belongs to the Section Sensor Networks)
  • Review
  • Open Access
456 Citations
79,199 Views
20 Pages

Heart Rate Variability in Psychology: A Review of HRV Indices and an Analysis Tutorial

  • Tam Pham,
  • Zen Juen Lau,
  • S. H. Annabel Chen and
  • Dominique Makowski

9 June 2021

The use of heart rate variability (HRV) in research has been greatly popularized over the past decades due to the ease and affordability of HRV collection, coupled with its clinical relevance and significant relationships with psychophysiological con...

(This article belongs to the Special Issue Brain Signals Acquisition and Processing)
  • Review
  • Open Access
405 Citations
79,064 Views
32 Pages

Smart Sensors and Smart Data for Precision Agriculture: A Review

  • Abdellatif Soussi,
  • Enrico Zero,
  • Roberto Sacile,
  • Daniele Trinchero and
  • Marco Fossa

21 April 2024

Precision agriculture, driven by the convergence of smart sensors and advanced technologies, has emerged as a transformative force in modern farming practices. The present review synthesizes insights from a multitude of research papers, exploring the...

(This article belongs to the Special Issue Feature Review Papers in Intelligent Sensors)
  • Review
  • Open Access
717 Citations
78,307 Views
18 Pages

31 May 2020

Air quality, water pollution, and radiation pollution are major factors that pose genuine challenges in the environment. Suitable monitoring is necessary so that the world can achieve sustainable growth, by maintaining a healthy society. In recent ye...

(This article belongs to the Section Internet of Things)
  • Article
  • Open Access
171 Citations
77,923 Views
21 Pages

23 June 2021

Consumer-grade sleep trackers represent a promising tool for large scale studies and health management. However, the potential and limitations of these devices remain less well quantified. Addressing this issue, we aim at providing a comprehensive an...

(This article belongs to the Special Issue Smartphones and Wearable Sensors for Monitoring Heart Rate and Heart Rate Variability)
  • Review
  • Open Access
1,062 Citations
77,090 Views
29 Pages

Gait Analysis Using Wearable Sensors

  • Weijun Tao,
  • Tao Liu,
  • Rencheng Zheng and
  • Hutian Feng

16 February 2012

Gait analysis using wearable sensors is an inexpensive, convenient, and efficient manner of providing useful information for multiple health-related applications. As a clinical tool applied in the rehabilitation and diagnosis of medical conditions an...

(This article belongs to the Section Physical Sensors)
  • Review
  • Open Access
773 Citations
77,042 Views
29 Pages

Foot Plantar Pressure Measurement System: A Review

  • Abdul Hadi Abdul Razak,
  • Aladin Zayegh,
  • Rezaul K. Begg and
  • Yufridin Wahab

23 July 2012

Foot plantar pressure is the pressure field that acts between the foot and the support surface during everyday locomotor activities. Information derived from such pressure measures is important in gait and posture research for diagnosing lower limb p...

(This article belongs to the Section Physical Sensors)
  • Article
  • Open Access
1,227 Citations
75,345 Views
21 Pages

29 November 2017

Tactile sensing is an important perception mode for robots, but the existing tactile technologies have multiple limitations. What kind of tactile information robots need, and how to use the information, remain open questions. We believe a soft sensor...

(This article belongs to the Special Issue Tactile Sensors and Sensing)
  • Review
  • Open Access
  • Best Paper Award
560 Citations
74,503 Views
45 Pages

15 February 2019

Current glucose monitoring methods for the ever-increasing number of diabetic people around the world are invasive, painful, time-consuming, and a constant burden for the household budget. The non-invasive glucose monitoring technology overcomes thes...

(This article belongs to the Special Issue Electromagnetic Medical Sensing)
  • Review
  • Open Access
276 Citations
73,761 Views
60 Pages

9 February 2023

The wave of modernization around us has put the automotive industry on the brink of a paradigm shift. Leveraging the ever-evolving technologies, vehicles are steadily transitioning towards automated driving to constitute an integral part of the intel...

(This article belongs to the Section Remote Sensors)
  • Article
  • Open Access
62 Citations
73,752 Views
16 Pages

Evaluating Accuracy in Five Commercial Sleep-Tracking Devices Compared to Research-Grade Actigraphy and Polysomnography

  • Kyle A. Kainec,
  • Jamie Caccavaro,
  • Morgan Barnes,
  • Chloe Hoff and ,
  • Annika Berlin and
  • Rebecca M. C. Spencer
  • + 1 author+ 0 author

19 January 2024

The development of consumer sleep-tracking technologies has outpaced the scientific evaluation of their accuracy. In this study, five consumer sleep-tracking devices, research-grade actigraphy, and polysomnography were used simultaneously to monitor...

(This article belongs to the Special Issue Wearable Sensing Technology for Physiological and Behavioral Human Monitoring—2nd Edition)
  • Article
  • Open Access
1,482 Citations
73,406 Views
18 Pages

1 February 2012

Consumer-grade range cameras such as the Kinect sensor have the potential to be used in mapping applications where accuracy requirements are less strict. To realize this potential insight into the geometric quality of the data acquired by the sensor...

(This article belongs to the Section Physical Sensors)
  • Review
  • Open Access
858 Citations
73,133 Views
28 Pages

25 July 2018

Wearable Health Devices (WHDs) are increasingly helping people to better monitor their health status both at an activity/fitness level for self-health tracking and at a medical level providing more data to clinicians with a potential for earlier diag...

(This article belongs to the Special Issue Wearable Smart Devices)
  • Review
  • Open Access
180 Citations
72,914 Views
49 Pages

21 March 2021

Humans respond cognitively and emotionally to the built environment. The modern possibility of recording the neural activity of subjects during exposure to environmental situations, using neuroscientific techniques and virtual reality, provides a pro...

(This article belongs to the Special Issue Advances in Design and Integration of Wearable Sensors for Ergonomics)
  • Review
  • Open Access
1,045 Citations
72,099 Views
43 Pages

16 August 2016

Remotely sensed data can reinforce the abilities of water resources researchers and decision makers to monitor waterbodies more effectively. Remote sensing techniques have been widely used to measure the qualitative parameters of waterbodies (i.e., s...

(This article belongs to the Section Remote Sensors)
  • Review
  • Open Access
554 Citations
71,681 Views
36 Pages

Face Recognition Systems: A Survey

  • Yassin Kortli,
  • Maher Jridi,
  • Ayman Al Falou and
  • Mohamed Atri

7 January 2020

Over the past few decades, interest in theories and algorithms for face recognition has been growing rapidly. Video surveillance, criminal identification, building access control, and unmanned and autonomous vehicles are just a few examples of concre...

(This article belongs to the Special Issue Biometric Systems)
  • Article
  • Open Access
1,233 Citations
71,429 Views
26 Pages

CICIoT2023: A Real-Time Dataset and Benchmark for Large-Scale Attacks in IoT Environment

  • Euclides Carlos Pinto Neto,
  • Sajjad Dadkhah,
  • Raphael Ferreira,
  • Alireza Zohourian and ,
  • Rongxing Lu and
  • Ali A. Ghorbani
  • + 1 author+ 0 author

26 June 2023

Nowadays, the Internet of Things (IoT) concept plays a pivotal role in society and brings new capabilities to different industries. The number of IoT solutions in areas such as transportation and healthcare is increasing and new services are under de...

(This article belongs to the Special Issue Security and Privacy of the Internet of Things for Industrial Applications)
  • Review
  • Open Access
330 Citations
70,931 Views
20 Pages

Digital Transformation and Cybersecurity Challenges for Businesses Resilience: Issues and Recommendations

  • Saqib Saeed,
  • Salha A. Altamimi,
  • Norah A. Alkayyal,
  • Ebtisam Alshehri and
  • Dina A. Alabbad

25 July 2023

This systematic literature review explores the digital transformation (DT) and cybersecurity implications for achieving business resilience. DT involves transitioning organizational processes to IT solutions, which can result in significant changes a...

(This article belongs to the Section Industrial Sensors)
  • Review
  • Open Access
497 Citations
70,200 Views
29 Pages

Path Planning for Autonomous Mobile Robots: A Review

  • José Ricardo Sánchez-Ibáñez,
  • Carlos J. Pérez-del-Pulgar and
  • Alfonso García-Cerezo

26 November 2021

Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path plann...

(This article belongs to the Special Issue Autonomous Mobile Robots: Real-Time Sensing, Navigation, and Control)
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