{"id":"https://openalex.org/W2768039838","doi":"https://doi.org/10.1007/978-3-319-70833-1_5","title":"The K-Framed Quadtrees Approach for Path Planning Through a Known Environment","display_name":"The K-Framed Quadtrees Approach for Path Planning Through a Known Environment","publication_year":2017,"publication_date":"2017-11-11","ids":{"openalex":"https://openalex.org/W2768039838","doi":"https://doi.org/10.1007/978-3-319-70833-1_5","mag":"2768039838"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-70833-1_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-70833-1_5","pdf_url":null,"source":{"id":"https://openalex.org/S2764905038","display_name":"Advances in intelligent systems and computing","issn_l":"2194-5357","issn":["2194-5357","2194-5365"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Intelligent Systems and Computing","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10198/15559","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101248166","display_name":"Ana Clara Laureano Rodrigues","orcid":null},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ana Rodrigues","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022725672","display_name":"Pedro Costa","orcid":"https://orcid.org/0000-0002-0435-8419"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Pedro Costa","raw_affiliation_strings":["Centre for Robotics in Industry and Intelligent Systems, INESC-TEC, Porto, Portugal","Faculty of Engineering, University of Porto, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics in Industry and Intelligent Systems, INESC-TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030211128","display_name":"Jos\u00e9 Lima","orcid":"https://orcid.org/0000-0001-7902-1207"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4210092303","display_name":"Polytechnic Institute of Bragan\u00e7a","ror":"https://ror.org/00prsav78","country_code":"PT","type":"education","lineage":["https://openalex.org/I4210092303"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Lima","raw_affiliation_strings":["Centre for Robotics in Industry and Intelligent Systems, INESC-TEC, Porto, Portugal","Polytechnic Institute of Bragan\u00e7a, Bragan\u00e7a, Portugal"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics in Industry and Intelligent Systems, INESC-TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]},{"raw_affiliation_string":"Polytechnic Institute of Bragan\u00e7a, Bragan\u00e7a, Portugal","institution_ids":["https://openalex.org/I4210092303"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022725672"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":0.3331,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57674613,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"49","last_page":"59"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9968000054359436,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quadtree","display_name":"Quadtree","score":0.9279813766479492},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7680327296257019},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.7281261086463928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7148483395576477},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6174905300140381},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5902386903762817},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5023541450500488},{"id":"https://openalex.org/keywords/grid-method-multiplication","display_name":"Grid method multiplication","score":0.5007939338684082},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.451653391122818},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4399738609790802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39028385281562805},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3669390380382538},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3574853837490082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31124264001846313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16601398587226868},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06220126152038574}],"concepts":[{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.9279813766479492},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7680327296257019},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.7281261086463928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7148483395576477},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6174905300140381},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5902386903762817},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5023541450500488},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.5007939338684082},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.451653391122818},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4399738609790802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39028385281562805},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3669390380382538},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3574853837490082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31124264001846313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16601398587226868},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06220126152038574},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/978-3-319-70833-1_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-70833-1_5","pdf_url":null,"source":{"id":"https://openalex.org/S2764905038","display_name":"Advances in intelligent systems and computing","issn_l":"2194-5357","issn":["2194-5357","2194-5365"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Intelligent Systems and Computing","raw_type":"book-chapter"},{"id":"pmh:oai:bibliotecadigital.ipb.pt:10198/15559","is_oa":true,"landing_page_url":"http://hdl.handle.net/10198/15559","pdf_url":null,"source":{"id":"https://openalex.org/S4306400634","display_name":"Biblioteca Digital do IPB (Instituto Politecnico De Braganca)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210092303","host_organization_name":"Polytechnic Institute of Bragan\u00e7a","host_organization_lineage":["https://openalex.org/I4210092303"],"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":null,"raw_type":"conference paper"},{"id":"pmh:oai:repositorio.inesctec.pt:123456789/6819","is_oa":true,"landing_page_url":"http://repositorio.inesctec.pt/handle/123456789/6819","pdf_url":null,"source":{"id":"https://openalex.org/S4306402433","display_name":"Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)","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":"book part"}],"best_oa_location":{"id":"pmh:oai:bibliotecadigital.ipb.pt:10198/15559","is_oa":true,"landing_page_url":"http://hdl.handle.net/10198/15559","pdf_url":null,"source":{"id":"https://openalex.org/S4306400634","display_name":"Biblioteca Digital do IPB (Instituto Politecnico De Braganca)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210092303","host_organization_name":"Polytechnic Institute of Bragan\u00e7a","host_organization_lineage":["https://openalex.org/I4210092303"],"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":null,"raw_type":"conference paper"},"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1521785144","https://openalex.org/W1555623254","https://openalex.org/W2007982563","https://openalex.org/W2074293685","https://openalex.org/W2107242410","https://openalex.org/W2136832785","https://openalex.org/W2163852435","https://openalex.org/W2165036656"],"related_works":["https://openalex.org/W2077539472","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
