{"id":"https://openalex.org/W1979693833","doi":"https://doi.org/10.1002/rob.4620070107","title":"An efficient algorithm for finding a collision\u2010free path among polyhedral obstacles","display_name":"An efficient algorithm for finding a collision\u2010free path among polyhedral obstacles","publication_year":1990,"publication_date":"1990-02-01","ids":{"openalex":"https://openalex.org/W1979693833","doi":"https://doi.org/10.1002/rob.4620070107","mag":"1979693833"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620070107","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070107","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"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 Robotic Systems","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/A5101925654","display_name":"Li\u2010Chen Fu","orcid":"https://orcid.org/0000-0002-6947-7646"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Li\u2010Chen Fu","raw_affiliation_strings":["Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C","[Department of Computer Science & Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C.]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"[Department of Computer Science & Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C.]","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100832095","display_name":"Dong\u2010Yueh Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Dong\u2010Yueh Liu","raw_affiliation_strings":["Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C","[Department of Computer Science & Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C.]"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"[Department of Computer Science & Information Engineering, National Taiwan University, Taipei, Taiwan, R.O.C.]","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101925654"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.1093036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7","issue":"1","first_page":"129","last_page":"137"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/visibility-graph","display_name":"Visibility graph","score":0.7993844747543335},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6621876955032349},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6359482407569885},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5747148394584656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5660803318023682},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5622314214706421},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5371976494789124},{"id":"https://openalex.org/keywords/widest-path-problem","display_name":"Widest path problem","score":0.530734121799469},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5175272822380066},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.45884713530540466},{"id":"https://openalex.org/keywords/distance","display_name":"Distance","score":0.45881327986717224},{"id":"https://openalex.org/keywords/graph-algorithms","display_name":"Graph algorithms","score":0.4427642822265625},{"id":"https://openalex.org/keywords/bidirectional-search","display_name":"Bidirectional search","score":0.4124816060066223},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3753790557384491},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.3303872346878052},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.3248770236968994},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3060510754585266},{"id":"https://openalex.org/keywords/best-first-search","display_name":"Best-first search","score":0.0734429657459259},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07141590118408203}],"concepts":[{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.7993844747543335},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6621876955032349},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6359482407569885},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5747148394584656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5660803318023682},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5622314214706421},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5371976494789124},{"id":"https://openalex.org/C83677490","wikidata":"https://www.wikidata.org/wiki/Q7998708","display_name":"Widest path problem","level":5,"score":0.530734121799469},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5175272822380066},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.45884713530540466},{"id":"https://openalex.org/C54385418","wikidata":"https://www.wikidata.org/wiki/Q2742711","display_name":"Distance","level":4,"score":0.45881327986717224},{"id":"https://openalex.org/C2986651925","wikidata":"https://www.wikidata.org/wiki/Q1514868","display_name":"Graph algorithms","level":3,"score":0.4427642822265625},{"id":"https://openalex.org/C831591","wikidata":"https://www.wikidata.org/wiki/Q59750","display_name":"Bidirectional search","level":5,"score":0.4124816060066223},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3753790557384491},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.3303872346878052},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3248770236968994},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3060510754585266},{"id":"https://openalex.org/C46011968","wikidata":"https://www.wikidata.org/wiki/Q830527","display_name":"Best-first search","level":4,"score":0.0734429657459259},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07141590118408203},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.0},{"id":"https://openalex.org/C19889080","wikidata":"https://www.wikidata.org/wiki/Q2835852","display_name":"Beam search","level":3,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620070107","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070107","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"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 Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1513657552","https://openalex.org/W1602132814","https://openalex.org/W1749015247","https://openalex.org/W1986014106","https://openalex.org/W2014320134","https://openalex.org/W2024403195","https://openalex.org/W2052258220","https://openalex.org/W2081777693","https://openalex.org/W2142955806","https://openalex.org/W2144717132","https://openalex.org/W2147159598","https://openalex.org/W2150500908","https://openalex.org/W2163178194"],"related_works":["https://openalex.org/W2237480599","https://openalex.org/W2163318972","https://openalex.org/W2186738974","https://openalex.org/W2031583606","https://openalex.org/W1568976900","https://openalex.org/W2939929016","https://openalex.org/W1979693833","https://openalex.org/W2894757447","https://openalex.org/W2068319819","https://openalex.org/W2051382614"],"abstract_inverted_index":{"Abstract":[0],"The":[1,45],"use":[2],"of":[3,31,42,47,78],"graph":[4,60],"search":[5,33],"algorithms":[6],"on":[7],"a":[8,14,19,27,58],"so":[9],"called":[10],"\u201cvisibility":[11],"graph\u201d":[12],"is":[13,50],"common":[15],"approach":[16],"to":[17,51],"finding":[18],"minimum\u2010distance":[20],"collision\u2010free":[21,81],"path":[22],"among":[23],"polyhedral":[24],"obstacles":[25,69],"in":[26],"2D":[28],"environment.":[29],"Complexity":[30],"the":[32,40,43,79],"can":[34],"be":[35],"greatly":[36],"reduced":[37],"by":[38],"reducing":[39],"size":[41],"graph.":[44],"focus":[46],"this":[48],"article":[49],"provide":[52],"an":[53],"algorithm":[54],"aimed":[55],"at":[56],"constructing":[57],"subvisibility":[59],"using":[61],"only":[62],"\u201cnecessary\u201d":[63],"obstacles,":[64],"i.e.,":[65],"excluding":[66],"as":[67,70],"many":[68],"possible":[71],"whose":[72],"vertices":[73],"are":[74],"never":[75],"via":[76],"points":[77],"shortest":[80],"path.":[82]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}