{"id":"https://openalex.org/W2042112474","doi":"https://doi.org/10.1007/bf01914866","title":"Planning collision-free trajectories in time-varying environments: a two-level hierarchy","display_name":"Planning collision-free trajectories in time-varying environments: a two-level hierarchy","publication_year":1988,"publication_date":"1988-03-01","ids":{"openalex":"https://openalex.org/W2042112474","doi":"https://doi.org/10.1007/bf01914866","mag":"2042112474"},"language":"en","primary_location":{"id":"doi:10.1007/bf01914866","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf01914866","pdf_url":null,"source":{"id":"https://openalex.org/S73060445","display_name":"The Visual Computer","issn_l":"0178-2789","issn":["0178-2789","1432-2315"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Visual Computer","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/A5101931306","display_name":"Kamal Kant","orcid":"https://orcid.org/0000-0003-1208-2229"},"institutions":[{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]},{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA","SE"],"is_corresponding":false,"raw_author_name":"Kamal Kant","raw_affiliation_strings":["Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","Senior Fellow, Canadian Institute for Advanced Research,\n        Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Qu\u00e9bec, Canada","Computer Vision and Robotics Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Senior Fellow, Canadian Institute for Advanced Research,\n        Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Qu\u00e9bec, Canada","institution_ids":["https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Computer Vision and Robotics Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012924253","display_name":"Steven W. Zucker","orcid":"https://orcid.org/0000-0002-2205-6895"},"institutions":[{"id":"https://openalex.org/I4210159412","display_name":"Intelligent Machines (Sweden)","ror":"https://ror.org/05nzk9q32","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210159412"]},{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA","SE"],"is_corresponding":false,"raw_author_name":"Steven W. Zucker","raw_affiliation_strings":["Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","Senior Fellow, Canadian Institute for Advanced Research,\n        Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Qu\u00e9bec, Canada","Computer Vision and Robotics Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Senior Fellow, Canadian Institute for Advanced Research,\n        Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Qu\u00e9bec, Canada","institution_ids":["https://openalex.org/I4210159412"]},{"raw_affiliation_string":"Computer Vision and Robotics Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":2.6524,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.90015741,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":"5","first_page":"304","last_page":"313"},"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":0.9952999949455261,"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":0.9932000041007996,"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/trajectory","display_name":"Trajectory","score":0.7525782585144043},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6708940267562866},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.639725923538208},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.6211251020431519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.580371081829071},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5361585021018982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5233948826789856},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4999549388885498},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4817923903465271},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46454811096191406},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.4325066804885864},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.42995569109916687},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.41731879115104675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33524733781814575},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3301783800125122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2313460409641266},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08364641666412354}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7525782585144043},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6708940267562866},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.639725923538208},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.6211251020431519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.580371081829071},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5361585021018982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5233948826789856},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4999549388885498},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4817923903465271},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46454811096191406},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.4325066804885864},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.42995569109916687},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.41731879115104675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33524733781814575},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3301783800125122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2313460409641266},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08364641666412354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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:10.1007/bf01914866","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf01914866","pdf_url":null,"source":{"id":"https://openalex.org/S73060445","display_name":"The Visual Computer","issn_l":"0178-2789","issn":["0178-2789","1432-2315"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Visual Computer","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W261809690","https://openalex.org/W407104551","https://openalex.org/W628736642","https://openalex.org/W1512267351","https://openalex.org/W1556795538","https://openalex.org/W1581527321","https://openalex.org/W1582353822","https://openalex.org/W1603493090","https://openalex.org/W1639227073","https://openalex.org/W1901697964","https://openalex.org/W2004815408","https://openalex.org/W2008201056","https://openalex.org/W2033013465","https://openalex.org/W2042106485","https://openalex.org/W2076369477","https://openalex.org/W2079694260","https://openalex.org/W2090528612","https://openalex.org/W2097856935","https://openalex.org/W2103120971","https://openalex.org/W2131286638","https://openalex.org/W2144717132","https://openalex.org/W2160491021","https://openalex.org/W2163178194","https://openalex.org/W2166462345","https://openalex.org/W2168875866","https://openalex.org/W2312064194","https://openalex.org/W2524421458","https://openalex.org/W4243386470"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W4381746183"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}
