{"id":"https://openalex.org/W4281645839","doi":"https://doi.org/10.1109/icarsc55462.2022.9784810","title":"Obstacle Avoiding Path Planning Pipeline for Marine Surface Vessels","display_name":"Obstacle Avoiding Path Planning Pipeline for Marine Surface Vessels","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4281645839","doi":"https://doi.org/10.1109/icarsc55462.2022.9784810"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc55462.2022.9784810","doi":"https://doi.org/10.1109/icarsc55462.2022.9784810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784810","pdf_url":null,"source":{"id":"https://openalex.org/S4306422597","display_name":"IEEE International Conference on Autonomous Robot Systems and Competitions","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5070518091","display_name":"In\u00eas Soares","orcid":"https://orcid.org/0000-0001-7146-4273","observed_orcids":["https://orcid.org/0000-0001-7146-4273"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ines Soares","raw_affiliation_strings":["CEiiA - Centro de Engenharia e Desenvolvimento,Ocean &#x0026; Space Unit,Department of Electronics &#x0026; Embedded Systems,Matosinhos,Portugal","Department of Electronics &#x0026","Embedded Systems, Ocean &#x0026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEiiA - Centro de Engenharia e Desenvolvimento,Ocean &#x0026; Space Unit,Department of Electronics &#x0026; Embedded Systems,Matosinhos,Portugal","institution_ids":[]},{"raw_affiliation_string":"Department of Electronics &#x0026","institution_ids":[]},{"raw_affiliation_string":"Embedded Systems, Ocean &#x0026","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090419554","display_name":"Sara Sa","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sara Sa","raw_affiliation_strings":["CEiiA - Centro de Engenharia e Desenvolvimento,Ocean &#x0026; Space Unit,Department of Electronics &#x0026; Embedded Systems,Matosinhos,Portugal","Department of Electronics &#x0026","Embedded Systems, Ocean &#x0026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEiiA - Centro de Engenharia e Desenvolvimento,Ocean &#x0026; Space Unit,Department of Electronics &#x0026; Embedded Systems,Matosinhos,Portugal","institution_ids":[]},{"raw_affiliation_string":"Department of Electronics &#x0026","institution_ids":[]},{"raw_affiliation_string":"Embedded Systems, Ocean &#x0026","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033831989","display_name":"Jo\u00e3o Morais","orcid":"https://orcid.org/0000-0003-3406-2878","observed_orcids":["https://orcid.org/0000-0003-3406-2878"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joao Morais","raw_affiliation_strings":["CoLAB &#x002B;Atlantic,Matosinhos,Portugal","CoLAB &#x002B"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CoLAB &#x002B;Atlantic,Matosinhos,Portugal","institution_ids":[]},{"raw_affiliation_string":"CoLAB &#x002B","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016292725","display_name":"Jo\u00e3o Fortuna","orcid":"https://orcid.org/0000-0003-4181-8354","observed_orcids":["https://orcid.org/0000-0003-4181-8354"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joao Fortuna","raw_affiliation_strings":["CEiiA - Centro de Engenharia e Desenvolvimento,Ocean &#x0026; Space Unit,Department of Electronics &#x0026; Embedded Systems,Matosinhos,Portugal","Department of Electronics &#x0026","Embedded Systems, Ocean &#x0026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEiiA - Centro de Engenharia e Desenvolvimento,Ocean &#x0026; Space Unit,Department of Electronics &#x0026; Embedded Systems,Matosinhos,Portugal","institution_ids":[]},{"raw_affiliation_string":"Department of Electronics &#x0026","institution_ids":[]},{"raw_affiliation_string":"Embedded Systems, Ocean &#x0026","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0906,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.31598491,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"161","last_page":"166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.0010000000474974513,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.9520000219345093},{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.9869999885559082},{"id":"https://openalex.org/keywords/unmanned-surface-vessels","display_name":"unmanned surface vehicles","score":0.8989999890327454},{"id":"https://openalex.org/keywords/marine-surface-vessels","display_name":"marine surface vessels","score":0.8190000057220459},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.8059999942779541},{"id":"https://openalex.org/keywords/a-algorithm","display_name":"A* algorithm","score":0.8579999804496765},{"id":"https://openalex.org/keywords/rapidly-exploring-random-tree","display_name":"rapidly-exploring random tree","score":0.9210000038146973}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7765638828277588},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6704291701316833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6622966527938843},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5817936658859253},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5766118168830872},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.560703456401825},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5566737651824951},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5523147583007812},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.512741208076477},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.510071337223053},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.47526758909225464},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45881491899490356},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.44999492168426514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4185869097709656},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.41835111379623413},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3801994323730469},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3598451316356659},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23669365048408508},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15237542986869812},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14832890033721924},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1385492980480194},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1331622302532196},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1058783233165741},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc55462.2022.9784810","doi":"https://doi.org/10.1109/icarsc55462.2022.9784810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784810","pdf_url":null,"source":{"id":"https://openalex.org/S4306422597","display_name":"IEEE International Conference on Autonomous Robot Systems and Competitions","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2493873739","https://openalex.org/W4294975800","https://openalex.org/W7125357377","https://openalex.org/W2763546190","https://openalex.org/W4405752627","https://openalex.org/W4391749887","https://openalex.org/W3194742122","https://openalex.org/W4416989219","https://openalex.org/W7212133406","https://openalex.org/W4405305477"],"abstract_inverted_index":{"In":[0],"the":[1,73,84,91,97],"context":[2],"of":[3,51,63],"mobile":[4],"robots,":[5],"path":[6,37,85],"planning":[7,38,70],"is":[8,120,126],"crucial":[9],"to":[10,83],"prevent":[11],"collisions":[12],"with":[13,16],"obstacles.":[14],"Moreover,":[15],"Unmanned":[17],"Surface":[18],"Vehicles,":[19],"collision":[20],"can":[21],"be":[22],"devastating,":[23],"possibly":[24],"resulting":[25],"in":[26],"a":[27,36,61],"hull":[28],"breach.":[29],"To":[30,47,95],"mitigate":[31],"this":[32,58],"problem,":[33],"we":[34,56,99],"developed":[35],"module":[39],"for":[40,122],"our":[41,130],"mission":[42,74,131],"command":[43],"and":[44,54,80,88,109,115,125],"control":[45,75,132],"software.":[46],"simplify":[48],"further":[49],"integration":[50],"other":[52],"features":[53],"improvements,":[55],"devised":[57],"plugin":[59],"as":[60,113],"pipeline":[62],"smaller":[64],"modules.":[65,117],"The":[66],"user":[67],"creates":[68],"automated":[69],"requests":[71],"on":[72],"interface,":[76],"an":[77],"API":[78],"receives":[79],"forwards":[81],"them":[82],"planing":[86],"pipeline,":[87],"then":[89],"returns":[90],"obstacle":[92],"avoiding":[93],"path.":[94],"validate":[96],"concept,":[98],"implemented":[100],"popular":[101],"algorithms":[102],"like":[103],"A*":[104],"search,":[105],"Rapidly-Exploring":[106],"Random":[107],"Tree,":[108],"Fast":[110],"Marching":[111],"Square":[112],"alternative":[114],"configurable":[116],"This":[118],"implementation":[119],"suitable":[121],"field":[123],"usage,":[124],"fully":[127],"integrated":[128],"into":[129],"system.":[133]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-10-05T09:50:58.205359","created_date":"2022-06-13T00:00:00"}
