{"id":"https://openalex.org/W2078013630","doi":"https://doi.org/10.1007/pl00009402","title":"Motion Planning in Environments with Low Obstacle Density","display_name":"Motion Planning in Environments with Low Obstacle Density","publication_year":1998,"publication_date":"1998-12-01","ids":{"openalex":"https://openalex.org/W2078013630","doi":"https://doi.org/10.1007/pl00009402","mag":"2078013630"},"language":"en","primary_location":{"id":"doi:10.1007/pl00009402","is_oa":true,"landing_page_url":"https://doi.org/10.1007/pl00009402","pdf_url":"https://link.springer.com/content/pdf/10.1007/PL00009402.pdf","source":{"id":"https://openalex.org/S103671469","display_name":"Discrete & Computational Geometry","issn_l":"0179-5376","issn":["0179-5376","1432-0444"],"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":"Discrete &amp; Computational Geometry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://link.springer.com/content/pdf/10.1007/PL00009402.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044860343","display_name":"A. Frank van der Stappen","orcid":"https://orcid.org/0000-0001-7965-2818"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"A. F. van der Stappen","raw_affiliation_strings":["Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109665846","display_name":"M.H. Overmars","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M. H. Overmars","raw_affiliation_strings":["Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028410825","display_name":"Mark de Berg","orcid":"https://orcid.org/0000-0001-5770-3784"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M. de Berg","raw_affiliation_strings":["Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063625157","display_name":"Jules Vleugels","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"J. Vleugels","raw_affiliation_strings":["Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl\n, , , , , , NL","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Computer Science, Utrecht University,   P.O. Box 80.089, 3508 TB Utrecht, The Netherlands  frankst@cs.uu.nl, markov@cs.uu.nl, markdb@cs.uu.nl, jules@cs.uu.nl#N#, , NL","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044860343"],"corresponding_institution_ids":["https://openalex.org/I193662353"],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":null,"fwci":3.5482,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.92977793,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"20","issue":"4","first_page":"561","last_page":"587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/workspace","display_name":"Workspace","score":0.9574283361434937},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7564146518707275},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7310291528701782},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5802017450332642},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5455323457717896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5217324495315552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48683613538742065},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4651983678340912},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.44485610723495483},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.44218364357948303},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43792444467544556},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4193311929702759},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4101578891277313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4086747169494629},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3288724720478058},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2772405743598938},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2151261866092682},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.2094414234161377},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0839557945728302},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06889641284942627}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9574283361434937},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7564146518707275},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7310291528701782},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5802017450332642},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5455323457717896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5217324495315552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48683613538742065},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4651983678340912},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.44485610723495483},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.44218364357948303},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43792444467544556},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4193311929702759},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4101578891277313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4086747169494629},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3288724720478058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2772405743598938},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2151261866092682},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.2094414234161377},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0839557945728302},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06889641284942627},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":9,"locations":[{"id":"doi:10.1007/pl00009402","is_oa":true,"landing_page_url":"https://doi.org/10.1007/pl00009402","pdf_url":"https://link.springer.com/content/pdf/10.1007/PL00009402.pdf","source":{"id":"https://openalex.org/S103671469","display_name":"Discrete & Computational Geometry","issn_l":"0179-5376","issn":["0179-5376","1432-0444"],"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":"Discrete &amp; Computational Geometry","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/4168be95-e66d-4f4d-947b-a36f134b6cd1","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/4168be95-e66d-4f4d-947b-a36f134b6cd1","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"van der Stappen, A F, Overmars, M H, Berg, de, M & Vleugels, J M 1998, 'Motion planning in environments with low obstacle density', Discrete and Computational Geometry, vol. 20, no. 4, pp. 561-587. https://doi.org/10.1007/PL00009402","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.19.2279","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.19.2279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://archive.cs.uu.nl/pub/RUU/CS/techreps/CS-1997/1997-19.ps.gz","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.19.6784","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.19.6784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://archive.cs.uu.nl/pub/RUU/CS/techreps/CS-1995/1995-33.ps.gz","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.64.8771","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.64.8771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.uu.nl/research/techreps/repo/CS-1995/1995-33.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.74.3077","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.74.3077","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.uu.nl/research/techreps/repo/CS-1997/1997-19.pdf","raw_type":"text"},{"id":"pmh:tue:oai:pure.tue.nl:publications/4168be95-e66d-4f4d-947b-a36f134b6cd1","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/4168be95-e66d-4f4d-947b-a36f134b6cd1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Discrete and Computational Geometry, 20(4), 561 - 587. Springer","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:uu:oai:dspace.library.uu.nl:1874/17370","is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/17370","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"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":"info:eu-repo/semantics/other"},{"id":"pmh:uu:oai:dspace.library.uu.nl:1874/18362","is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/18362","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"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":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"doi:10.1007/pl00009402","is_oa":true,"landing_page_url":"https://doi.org/10.1007/pl00009402","pdf_url":"https://link.springer.com/content/pdf/10.1007/PL00009402.pdf","source":{"id":"https://openalex.org/S103671469","display_name":"Discrete & Computational Geometry","issn_l":"0179-5376","issn":["0179-5376","1432-0444"],"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":"Discrete &amp; Computational Geometry","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2078013630.pdf","grobid_xml":"https://content.openalex.org/works/W2078013630.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W20444823","https://openalex.org/W110843559","https://openalex.org/W1516027685","https://openalex.org/W1565569273","https://openalex.org/W1874694348","https://openalex.org/W1965230032","https://openalex.org/W1965440866","https://openalex.org/W1975114110","https://openalex.org/W1980034979","https://openalex.org/W2001804342","https://openalex.org/W2009564521","https://openalex.org/W2010692862","https://openalex.org/W2014151532","https://openalex.org/W2022020194","https://openalex.org/W2026200800","https://openalex.org/W2027190503","https://openalex.org/W2027868108","https://openalex.org/W2031799253","https://openalex.org/W2033013465","https://openalex.org/W2045155153","https://openalex.org/W2052165970","https://openalex.org/W2054236013","https://openalex.org/W2061311037","https://openalex.org/W2082663187","https://openalex.org/W2087027878","https://openalex.org/W2089567570","https://openalex.org/W2104769709","https://openalex.org/W2104872668","https://openalex.org/W2118175378","https://openalex.org/W2122668213","https://openalex.org/W2130349875","https://openalex.org/W2134898774","https://openalex.org/W2135471143","https://openalex.org/W2141110561","https://openalex.org/W2150079440","https://openalex.org/W2152902216","https://openalex.org/W2153204081","https://openalex.org/W2161536908","https://openalex.org/W2164950960","https://openalex.org/W2169945387","https://openalex.org/W2196955596","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2478733386","https://openalex.org/W1796340588","https://openalex.org/W2159229150","https://openalex.org/W2163286032","https://openalex.org/W2361912042","https://openalex.org/W2562391972","https://openalex.org/W4205945603","https://openalex.org/W3094478187","https://openalex.org/W2088332537","https://openalex.org/W2959221924"],"abstract_inverted_index":null,"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
