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In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This paper aims to propose a collision-free following system for robot to track humans in corridors without a prior map.

In addition to following a target and avoiding collisions robustly, the proposed system calculates the positions of walls in the environment in real-time. This allows the system to maintain a stable tracking of the target even if it is obscured after turning. The proposed solution is integrated into a four-wheeled differential drive mobile robot to follow a target in a corridor environment in real-world.

The experimental results demonstrate that the robot equipped with the proposed system is capable of avoiding obstacles and following a human target robustly in the corridors. Moreover, the robot achieves a 90% success rate in maintaining a stable tracking of the target after the target turns around a corner with high speed.

This paper proposes a human target following system incorporating three novel features: a path planning method based on wall positions is introduced to ensure stable tracking of the target even when it is obscured due to target turns; improvements are made to the random sample consensus (RANSAC) algorithm, enhancing its accuracy in calculating wall positions. The system is integrated into a four-wheeled differential drive mobile robot effectively demonstrates its remarkable robustness and real-time performance.

There is evidence in the literature suggesting the usage of performance measurement framework (PMF) has a positive impact on organisational performance. This is in line with resource based view (RBV) theory, which argues attaining competitive advantage through internal resources and capabilities. In this regard, PMF can be viewed as a “resource” that can be explored in enabling organisational performance. This paper is aimed at developing PMF for the oil and gas supply chain (SC) as a resource and strategic capability.

Drawing on RBV theory, a questionnaire survey was designed based on prior literature review and exploratory interview with five SC experts. Following this, the questionnaires were distributed to 550 companies in the UK and 120 companies in Malaysia, which resulted in 15% overall response rate.

This study presents the prevalence of performance measures (PM) for the oil and gas industry based on the level of importance. It also reveals the impact of the usage of PMF on overall organisational performance. In addition, it identifies the challenges in managing SC performance and factors to be considered in choosing PM.

This study identifies the challenges in managing SC performance and establishes distinctive factors to consider when choosing PM in the oil and gas SC.