{"id":"https://openalex.org/W2090170700","doi":"https://doi.org/10.1109/jra.1986.1087051","title":"Multiresolution path planning for mobile robots","display_name":"Multiresolution path planning for mobile robots","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2090170700","doi":"https://doi.org/10.1109/jra.1986.1087051","mag":"2090170700"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1986.1087051","doi":"https://doi.org/10.1109/jra.1986.1087051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1986.1087051","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023323170","display_name":"Subbarao Kambhampati B","orcid":"https://orcid.org/0000-0002-9069-0265","observed_orcids":["https://orcid.org/0000-0002-9069-0265"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Kambhampati","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","Univ. of Maryland, College Park, MD, , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Univ. of Maryland, College Park, MD, , USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111878160","display_name":"L.S. Davis","orcid":"https://orcid.org/0009-0001-1414-8415","observed_orcids":["https://orcid.org/0009-0001-1414-8415"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Davis","raw_affiliation_strings":["Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, Center for Automation Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":21.1235,"has_fulltext":false,"cited_by_count":436,"citation_normalized_percentile":{"value":0.99610253,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"2","issue":"3","first_page":"135","last_page":"145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.7300000190734863},{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.9700000286102295},{"id":"https://openalex.org/keywords/collision-free-path-planning","display_name":"collision-free path planning","score":0.6930000185966492},{"id":"https://openalex.org/keywords/multiscale-representation","display_name":"multi-scale representation","score":0.9779999852180481},{"id":"https://openalex.org/keywords/collision-detection","display_name":"collision detection","score":0.42399999499320984}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.906423807144165},{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.7471567988395691},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7218849062919617},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6854197978973389},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6631297469139099},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6353065967559814},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5572220683097839},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5346547365188599},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5310744643211365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5229806900024414},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46453481912612915},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06078717112541199},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/jra.1986.1087051","doi":"https://doi.org/10.1109/jra.1986.1087051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1986.1087051","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.13.7231","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.13.7231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://rakaposhi.eas.asu.edu/multi-resolution-icra.pdf","raw_type":"text"},{"id":"pmh:ADA158630","doi":null,"is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&amp;verb=getRecord&amp;metadataPrefix=html&amp;identifier=ADA158630","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC AND NTIS","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W19720318","https://openalex.org/W1512267351","https://openalex.org/W1513657552","https://openalex.org/W1602132814","https://openalex.org/W1888464538","https://openalex.org/W1901697964","https://openalex.org/W2000288754","https://openalex.org/W2009796613","https://openalex.org/W2029243826","https://openalex.org/W2041892841","https://openalex.org/W2050576295","https://openalex.org/W2077091230","https://openalex.org/W2108420409","https://openalex.org/W2141825555","https://openalex.org/W2144717132","https://openalex.org/W2163178194","https://openalex.org/W2593170163"],"related_works":["https://openalex.org/W7096136731","https://openalex.org/W2105225140","https://openalex.org/W2142360609","https://openalex.org/W2182959968","https://openalex.org/W2083907923","https://openalex.org/W2620600333","https://openalex.org/W4416677283","https://openalex.org/W2155287816","https://openalex.org/W2330396822","https://openalex.org/W16715057"],"abstract_inverted_index":{"The":[0,46],"problem":[1],"of":[2,34,48],"automatic":[3,16],"collision-free":[4],"path":[5,17,42,54],"planning":[6,18,43,55],"is":[7,24,56],"central":[8],"to":[9,15,38,51],"mobile":[10,52],"robot":[11,53],"applications.":[12],"An":[13],"approach":[14,50],"based":[19],"on":[20],"a":[21],"quadtree":[22],"representation":[23],"presented.":[25],"Hierarchical":[26],"path-searching":[27],"methods":[28],"are":[29],"introduced,":[30],"which":[31],"make":[32],"use":[33],"this":[35,49],"multiresolution":[36],"representation,":[37],"speed":[39],"up":[40],"the":[41],"process":[44],"considerably.":[45],"applicability":[47],"discussed.":[57]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":16}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
