{"id":"https://openalex.org/W4402269666","doi":"https://doi.org/10.1002/rob.22428","title":"Multi\u2010Objective Route Outlining and Collision Avoidance of Multiple Humanoid Robots in a Cluttered Environment","display_name":"Multi\u2010Objective Route Outlining and Collision Avoidance of Multiple Humanoid Robots in a Cluttered Environment","publication_year":2024,"publication_date":"2024-09-05","ids":{"openalex":"https://openalex.org/W4402269666","doi":"https://doi.org/10.1002/rob.22428"},"language":"en","primary_location":{"id":"doi:10.1002/rob.22428","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.22428","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"type":"article","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/A5065281886","display_name":"Abhishek Kumar Kashyap","orcid":"https://orcid.org/0000-0001-8805-0640"},"institutions":[{"id":"https://openalex.org/I164861460","display_name":"Manipal Academy of Higher Education","ror":"https://ror.org/02xzytt36","country_code":"IN","type":"education","lineage":["https://openalex.org/I164861460"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Abhishek Kumar Kashyap","raw_affiliation_strings":["Department of Mechatronics Manipal Institute of Technology, Manipal Academy of Higher Education Manipal Karnataka India"],"raw_orcid":"https://orcid.org/0000-0001-8805-0640","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Manipal Institute of Technology, Manipal Academy of Higher Education Manipal Karnataka India","institution_ids":["https://openalex.org/I164861460"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069237189","display_name":"Dayal R. Parhi","orcid":"https://orcid.org/0000-0002-2073-7136"},"institutions":[{"id":"https://openalex.org/I16292982","display_name":"National Institute of Technology Rourkela","ror":"https://ror.org/011gmn932","country_code":"IN","type":"education","lineage":["https://openalex.org/I16292982"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Dayal R. Parhi","raw_affiliation_strings":["Robotics Laboratory, Mechanical Engineering Department National Institute of Technology Rourkela Odisha India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Mechanical Engineering Department National Institute of Technology Rourkela Odisha India","institution_ids":["https://openalex.org/I16292982"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065281886"],"corresponding_institution_ids":["https://openalex.org/I164861460"],"apc_list":{"value":3590,"currency":"USD","value_usd":3590},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10221022,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":"4","first_page":"952","last_page":"969"},"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/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":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/collision-avoidance","display_name":"Collision avoidance","score":0.9148886203765869},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7106210589408875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5957165360450745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5864050984382629},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.5142554640769958},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5002288818359375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4451872706413269},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.403706431388855},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3860069215297699},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3710712194442749},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0862005352973938}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9148886203765869},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7106210589408875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5957165360450745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5864050984382629},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.5142554640769958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5002288818359375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4451872706413269},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.403706431388855},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3860069215297699},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3710712194442749},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0862005352973938}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.22428","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.22428","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1564583475","https://openalex.org/W1929262409","https://openalex.org/W2042222612","https://openalex.org/W2053166340","https://openalex.org/W2128990851","https://openalex.org/W2156969101","https://openalex.org/W2545029457","https://openalex.org/W2612102354","https://openalex.org/W2773772148","https://openalex.org/W2774264060","https://openalex.org/W2774597868","https://openalex.org/W2783779940","https://openalex.org/W2802782010","https://openalex.org/W2808295444","https://openalex.org/W2811406095","https://openalex.org/W2883492526","https://openalex.org/W2890672587","https://openalex.org/W2891098510","https://openalex.org/W2892217567","https://openalex.org/W2894985578","https://openalex.org/W2896531728","https://openalex.org/W2896804239","https://openalex.org/W2899467536","https://openalex.org/W2907721204","https://openalex.org/W2909049206","https://openalex.org/W2937664584","https://openalex.org/W2963538699","https://openalex.org/W2967426361","https://openalex.org/W2995249706","https://openalex.org/W3021232708","https://openalex.org/W3119780098","https://openalex.org/W3120085890","https://openalex.org/W3158071564","https://openalex.org/W3158550831","https://openalex.org/W3199039907","https://openalex.org/W4206010810","https://openalex.org/W4309865339","https://openalex.org/W4318570693"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2390040493","https://openalex.org/W4253267946","https://openalex.org/W2983014903","https://openalex.org/W2945385675","https://openalex.org/W1767544057","https://openalex.org/W2153778739","https://openalex.org/W2885713887"],"abstract_inverted_index":{"ABSTRACT":[0],"In":[1,243],"robotics,":[2],"navigating":[3],"a":[4,8,53,68,129,134,170,181,235],"humanoid":[5,37,64,98,192,222],"robot":[6,65,99,193,223],"through":[7],"cluttered":[9,69,130,182],"environment":[10,70,131,172,183],"is":[11,39,61,89,120,205,231,248],"challenging.":[12],"The":[13,30,117,191,256],"present":[14],"study":[15],"aims":[16],"to":[17,41,100,132,207,252],"enhance":[18],"the":[19,26,43,83,92,97,110,114,143,153,159,185,195,201,213,240,245,253],"footstep":[20,126],"and":[21,46,57,73,86,125,136,151,169,178,188,218,261],"determine":[22],"optimal":[23],"paths":[24],"regarding":[25],"robot's":[27],"route":[28,44,155,216],"length.":[29],"objective":[31],"function":[32],"for":[33,63,122,176],"navigation":[34,66,224],"of":[35,161],"multiple":[36],"robots":[38],"presented":[40,62],"optimize":[42],"length":[45,156],"travel":[47,219],"time.":[48],"A":[49,166],"hybrid":[50,145],"technique":[51,119,146,204],"using":[52,113],"probabilistic":[54],"roadmap":[55],"(PRM)":[56],"firefly":[58],"algorithm":[59],"(FA)":[60],"in":[67,82,128,180,197,250],"with":[71,103],"static":[72,141],"dynamic":[74],"obstacles.":[75],"Sensory":[76],"information,":[77],"such":[78],"as":[79,163,210,239],"barrier":[80],"range":[81],"left,":[84],"right,":[85],"front":[87],"directions,":[88],"fed":[90],"into":[91],"PRM":[93,162,203],"framework":[94],"that":[95],"allows":[96],"walk":[101],"steadily":[102],"an":[104,226],"initial":[105],"steering":[106,149],"angle.":[107],"It":[108],"finds":[109],"shortest":[111],"path":[112],"Bellman\u2013Ford":[115],"algorithm.":[116],"FA":[118],"used":[121,175],"efficient":[123],"guidance":[124],"modification":[127],"find":[133],"smooth":[135],"optimized":[137],"path.":[138],"To":[139],"avoid":[140],"obstacles,":[142],"suggested":[144],"provides":[147],"optimum":[148],"angles":[150],"ensures":[152,259],"minimum":[154],"by":[157,212,233],"taking":[158],"output":[160],"its":[164],"input.":[165],"3D":[167],"simulator":[168],"real\u2010world":[171],"have":[173],"been":[174],"simulation":[177],"experiment":[179],"utilizing":[184],"developed":[186,257],"model":[187],"standalone":[189],"methods.":[190],"achieves":[194],"target":[196],"all":[198],"scenarios,":[199],"but":[200],"FA\u2010tuned":[202],"advantageous":[206],"this":[208],"purpose,":[209],"shown":[211],"convergence":[214],"curve,":[215],"length,":[217],"duration.":[220],"Multiple":[221],"has":[225],"additional":[227],"self\u2010collision":[228],"issue,":[229],"which":[230],"eliminated":[232],"employing":[234],"dining":[236],"philosopher":[237],"controller":[238,247],"base":[241],"technique.":[242,255],"addition,":[244],"proposed":[246],"evaluated":[249],"contrast":[251],"existing":[254],"strategy":[258],"effectiveness":[260],"efficacy":[262],"depending":[263],"on":[264],"these":[265],"findings.":[266]},"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}