{"id":"https://openalex.org/W4385877304","doi":"https://doi.org/10.3390/s23167206","title":"A Depth-Based Hybrid Approach for Safe Flight Corridor Generation in Memoryless Planning","display_name":"A Depth-Based Hybrid Approach for Safe Flight Corridor Generation in Memoryless Planning","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4385877304","doi":"https://doi.org/10.3390/s23167206","pmid":"https://pubmed.ncbi.nlm.nih.gov/37631745","pmcid":"https://www.ncbi.nlm.nih.gov/pmc/articles/10458145"},"language":"en","primary_location":{"id":"doi:10.3390/s23167206","doi":"https://doi.org/10.3390/s23167206","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167206","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7206/pdf?version=1692244403","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/16/7206/pdf?version=1692244403","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101495769","display_name":"Thai Binh Nguyen","orcid":"https://orcid.org/0000-0003-2942-9014","observed_orcids":["https://orcid.org/0000-0003-2942-9014"]},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thai Binh Nguyen","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2942-9014","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010357798","display_name":"Manzur Murshed","orcid":"https://orcid.org/0000-0001-7079-9717","observed_orcids":["https://orcid.org/0000-0001-7079-9717"]},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Manzur Murshed","raw_affiliation_strings":["School of Information Technology, Deakin University, Burwood, VIC 3125, Australia"],"raw_orcid":"https://orcid.org/0000-0001-7079-9717","affiliations":[{"raw_affiliation_string":"School of Information Technology, Deakin University, Burwood, VIC 3125, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078742345","display_name":"Tanveer Choudhury","orcid":"https://orcid.org/0000-0002-9244-2708","observed_orcids":["https://orcid.org/0000-0002-9244-2708"]},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tanveer Choudhury","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia"],"raw_orcid":"https://orcid.org/0000-0002-9244-2708","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083165662","display_name":"Kathleen Keogh","orcid":"https://orcid.org/0000-0001-5798-3659","observed_orcids":["https://orcid.org/0000-0001-5798-3659"]},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kathleen Keogh","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5798-3659","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038632124","display_name":"Gayan C. Kahandawa","orcid":"https://orcid.org/0000-0003-4926-1239","observed_orcids":["https://orcid.org/0000-0003-4926-1239"]},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gayan Kahandawa Appuhamillage","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4926-1239","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051920398","display_name":"Linh V. Nguyen","orcid":"https://orcid.org/0000-0001-5360-886X","observed_orcids":["https://orcid.org/0000-0001-5360-886X"]},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Linh Nguyen","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5360-886X","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I149672521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051920398"],"corresponding_institution_ids":["https://openalex.org/I149672521"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2669},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2669},"fwci":0.3489,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.46752042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":95},"biblio":{"volume":"23","issue":"16","first_page":"7206","last_page":"7206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922000169754028,"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":0.9922000169754028,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.002899999963119626,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0010999999940395355,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/depth-maps","display_name":"depth images","score":0.8040000200271606},{"id":"https://openalex.org/keywords/object-detection","display_name":"object detection","score":0.9319999814033508},{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.6389999985694885}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7740986347198486},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6487795114517212},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5513474941253662},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5439268946647644},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5432660579681396},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5098775625228882},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4624024033546448},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4351988434791565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41378456354141235},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3681880533695221},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35558322072029114},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33695271611213684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23787665367126465},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2320002317428589},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19112089276313782},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.10719791054725647},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09219494462013245},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.3390/s23167206","doi":"https://doi.org/10.3390/s23167206","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167206","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7206/pdf?version=1692244403","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmh:oai:pubmedcentral.nih.gov:10458145","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10458145","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmid:37631745","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37631745","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:vital:18826","doi":null,"is_oa":true,"landing_page_url":"http://researchonline.federation.edu.au/vital/access/manager/Repository/vital:18826/SOURCE1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400234","display_name":"FedUni ResearchOnline (Federation University Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210158496","host_organization_name":"Australian Federation of University Women \u2013 South Australia","host_organization_lineage":["https://openalex.org/I4210158496"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:799f8e7ba00c409f9fc2999b1fc29df3","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/799f8e7ba00c409f9fc2999b1fc29df3","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 16, p 7206 (2023)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/27191331","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Depth-Based_Hybrid_Approach_for_Safe_Flight_Corridor_Generation_in_Memoryless_Planning/27191331","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:unsworks.library.unsw.edu.au:1959.4/106220","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1959.4/106220","pdf_url":null,"source":{"id":"https://openalex.org/S4306401737","display_name":"UNSWorks (University of New South Wales, Sydney, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I40053085","host_organization_name":"Australian Defence Force Academy","host_organization_lineage":["https://openalex.org/I40053085"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, 23, 16, 7206-7206","raw_type":"http://purl.org/coar/resource_type/c_6501"}],"best_oa_location":{"id":"doi:10.3390/s23167206","doi":"https://doi.org/10.3390/s23167206","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167206","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7206/pdf?version=1692244403","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385877304.pdf","grobid_xml":"https://content.openalex.org/works/W4385877304.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1483870316","https://openalex.org/W1991328253","https://openalex.org/W2065894019","https://openalex.org/W2101502731","https://openalex.org/W2102605133","https://openalex.org/W2133844819","https://openalex.org/W2414314951","https://openalex.org/W2587415290","https://openalex.org/W2796497685","https://openalex.org/W2890723163","https://openalex.org/W2892005580","https://openalex.org/W2903506349","https://openalex.org/W2967828032","https://openalex.org/W3004227484","https://openalex.org/W3006388420","https://openalex.org/W3009542919","https://openalex.org/W3017213894","https://openalex.org/W3023767264","https://openalex.org/W3092218351","https://openalex.org/W3092452735","https://openalex.org/W3112226520","https://openalex.org/W3129883472","https://openalex.org/W3136503766","https://openalex.org/W3168659664","https://openalex.org/W3201592850","https://openalex.org/W3202883604","https://openalex.org/W3207223514","https://openalex.org/W4210643767","https://openalex.org/W4221155307","https://openalex.org/W4283212403","https://openalex.org/W4290755507","https://openalex.org/W4298087303","https://openalex.org/W4313049632","https://openalex.org/W4315786647","https://openalex.org/W4320056905","https://openalex.org/W4385994788"],"related_works":["https://openalex.org/W4387848936","https://openalex.org/W4411336718","https://openalex.org/W4289978407","https://openalex.org/W7223318719","https://openalex.org/W7161786919","https://openalex.org/W3009542919","https://openalex.org/W7153153317","https://openalex.org/W4291961108","https://openalex.org/W7128301010","https://openalex.org/W4312322210"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,56,64,133,137],"depth-based":[4],"hybrid":[5],"method":[6],"to":[7,22,46,67,96],"generate":[8],"safe":[9,53,88,172],"flight":[10],"corridors":[11,54,77,89,112,173],"for":[12,37,102,174],"memoryless":[14,134,175],"local":[15,176],"navigation":[16],"planner.":[17],"It":[18],"is":[19,118,167],"first":[20],"proposed":[21,83,116,165],"use":[23],"raw":[24,58],"depth":[25,59],"images":[26],"as":[27,99],"inputs":[28],"in":[29,55,147],"the":[30,49,74,82,115,124,144,164],"learning-based":[31],"object-detection":[32,44],"engine":[33],"with":[34,90,136,157],"no":[35],"requirement":[36],"map":[38],"fusion.":[39],"We":[40,141],"then":[41,142],"employ":[42],"an":[43],"network":[45],"directly":[47],"predict":[48],"base":[50],"of":[51,108,111,126,170],"polyhedral":[52],"new":[57],"image.":[60],"Furthermore,":[61],"we":[62,129],"apply":[63],"verification":[65],"procedure":[66],"eliminate":[68],"any":[69],"false":[70],"predictions":[71],"so":[72],"that":[73,93,163],"resulting":[75],"collision-free":[76],"are":[78,94],"guaranteed.":[79],"More":[80],"importantly,":[81],"mechanism":[84],"helps":[85],"produce":[86],"separate":[87],"minimal":[91],"overlap":[92],"suitable":[95],"be":[97],"used":[98],"space":[100],"boundaries":[101],"path":[103],"planning.":[104,177],"The":[105,154],"average":[106],"intersection":[107],"union":[109],"(IoU)":[110],"obtained":[113,155],"by":[114],"algorithm":[117],"less":[119],"than":[120],"2%.":[121],"To":[122],"evaluate":[123],"effectiveness":[125],"our":[127],"method,":[128],"incorporated":[130],"it":[131],"into":[132],"planner":[135],"straight-line":[138],"path-planning":[139],"algorithm.":[140],"tested":[143],"entire":[145],"system":[146],"both":[148],"synthetic":[149],"and":[150],"real-world":[151],"obstacle-dense":[152],"environments.":[153],"results":[156],"very":[158],"high":[159],"success":[160],"rates":[161],"demonstrate":[162],"approach":[166],"highly":[168],"capable":[169],"producing":[171]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2023-08-17T00:00:00"}