{"id":"https://openalex.org/W2157739760","doi":"https://doi.org/10.1007/3-540-45351-2_26","title":"Hybrid Geodesics as Optimal Solutions to the Collision-Free Motion Planning Problem","display_name":"Hybrid Geodesics as Optimal Solutions to the Collision-Free Motion Planning Problem","publication_year":2001,"publication_date":"2001-01-01","ids":{"openalex":"https://openalex.org/W2157739760","doi":"https://doi.org/10.1007/3-540-45351-2_26","mag":"2157739760"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-45351-2_26","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-45351-2_26","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-90419","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035753295","display_name":"Jianghai Hu","orcid":"https://orcid.org/0000-0002-4250-8852"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jianghai Hu","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060251698","display_name":"Maria Prandini","orcid":"https://orcid.org/0000-0001-7443-4117"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Prandini","raw_affiliation_strings":["Dept. of Electrical Engineering for Automation, University of Brescia, Brescia, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering for Automation, University of Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045975901","display_name":"Karl Henrik Johansson","orcid":"https://orcid.org/0000-0001-9940-5929"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Karl Henrik Johansson","raw_affiliation_strings":["Dept. of Signals, Systems and Sensors, Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Dept. of Signals, Systems and Sensors, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062722286","display_name":"Shankar Sastry","orcid":"https://orcid.org/0009-0000-9021-7235"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shankar Sastry","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035753295"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":3.3635,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92467532,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"305","last_page":"318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T12158","display_name":"Guidance and Control Systems","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/geodesic","display_name":"Geodesic","score":0.8246034979820251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7759619951248169},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6269475817680359},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5614101886749268},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5595090985298157},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3804664611816406},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33650243282318115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3173987865447998},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16639477014541626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12951624393463135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12911134958267212},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08929130434989929}],"concepts":[{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.8246034979820251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7759619951248169},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6269475817680359},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5614101886749268},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5595090985298157},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3804664611816406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33650243282318115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3173987865447998},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16639477014541626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12951624393463135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12911134958267212},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08929130434989929}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/3-540-45351-2_26","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-45351-2_26","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.112.3165","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.112.3165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.berkeley.edu/~sastry/pubs/PDFs of Pubs2000-2005/Publications of Grad Students 20042005/Hu, Jianghai2003-2004/HuPrandiniHybridGeodesics2001.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.173.1379","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.173.1379","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.s3.kth.se/%7Ekallej/papers/hs01_jianhai.pdf","raw_type":"text"},{"id":"pmh:oai:DiVA.org:kth-90419","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-90419","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Chapter in book"},{"id":"pmh:oai:re.public.polimi.it:11311/506836","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/506836","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-90419","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-90419","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Chapter in book"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W43645376","https://openalex.org/W101508493","https://openalex.org/W1546814349","https://openalex.org/W1593349343","https://openalex.org/W2010927613","https://openalex.org/W2011490168","https://openalex.org/W2050805689","https://openalex.org/W2066867661","https://openalex.org/W2082892656","https://openalex.org/W2114417975","https://openalex.org/W2116446610","https://openalex.org/W2140943160","https://openalex.org/W2161455539","https://openalex.org/W2166462345","https://openalex.org/W2169742265","https://openalex.org/W2316797719","https://openalex.org/W3038420293","https://openalex.org/W4213199372","https://openalex.org/W4234456144","https://openalex.org/W4242811155","https://openalex.org/W4250790688","https://openalex.org/W6680945875","https://openalex.org/W7070928088"],"related_works":["https://openalex.org/W1978591761","https://openalex.org/W4287661821","https://openalex.org/W3133864228","https://openalex.org/W2941285539","https://openalex.org/W1579299075","https://openalex.org/W4206698794","https://openalex.org/W3089249579","https://openalex.org/W4286749417","https://openalex.org/W3126955880","https://openalex.org/W1982132340"],"abstract_inverted_index":null,"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}