{"id":"https://openalex.org/W2078471336","doi":"https://doi.org/10.1007/s00371-013-0837-x","title":"Enhanced waypoint graph for surface and volumetric path planning in virtual worlds","display_name":"Enhanced waypoint graph for surface and volumetric path planning in virtual worlds","publication_year":2013,"publication_date":"2013-05-02","ids":{"openalex":"https://openalex.org/W2078471336","doi":"https://doi.org/10.1007/s00371-013-0837-x","mag":"2078471336"},"language":"en","primary_location":{"id":"doi:10.1007/s00371-013-0837-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00371-013-0837-x","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/A5064288607","display_name":"Nicholas Mario Wardhana","orcid":"https://orcid.org/0000-0002-7064-2063"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Nicholas Mario Wardhana","raw_affiliation_strings":["gameLAB, c/o School of Computer Engineering, Nanyang Technological University, N4-B1b-13 Nanyang Avenue, Singapore, 639798, Singapore","Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"gameLAB, c/o School of Computer Engineering, Nanyang Technological University, N4-B1b-13 Nanyang Avenue, Singapore, 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026713839","display_name":"Henry Johan","orcid":null},"institutions":[{"id":"https://openalex.org/I21419654","display_name":"Nanyang Polytechnic","ror":"https://ror.org/04af7ga89","country_code":"SG","type":"education","lineage":["https://openalex.org/I1280293394","https://openalex.org/I21419654"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Henry Johan","raw_affiliation_strings":["School of Computer Engineering, Block N4 #02a-32, Nanyang Avenue, Singapore, 639798, Singapore","School of Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Block N4 #02a-32, Nanyang Avenue, Singapore, 639798, Singapore","institution_ids":["https://openalex.org/I21419654"]},{"raw_affiliation_string":"School of Computer Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046543877","display_name":"Hock Soon Seah","orcid":"https://orcid.org/0000-0003-2699-7147"},"institutions":[{"id":"https://openalex.org/I21419654","display_name":"Nanyang Polytechnic","ror":"https://ror.org/04af7ga89","country_code":"SG","type":"education","lineage":["https://openalex.org/I1280293394","https://openalex.org/I21419654"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hock Soon Seah","raw_affiliation_strings":["School of Computer Engineering, Block N4 #02a-32, Nanyang Avenue, Singapore, 639798, Singapore","School of Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Block N4 #02a-32, Nanyang Avenue, Singapore, 639798, Singapore","institution_ids":["https://openalex.org/I21419654"]},{"raw_affiliation_string":"School of Computer Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5064288607"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":2.5743,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.90084701,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"29","issue":"10","first_page":"1051","last_page":"1062"},"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":0.9975000023841858,"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/T12290","display_name":"Human Motion and Animation","score":0.9905999898910522,"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/waypoint","display_name":"Waypoint","score":0.9715380668640137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6438018083572388},{"id":"https://openalex.org/keywords/graph-traversal","display_name":"Graph traversal","score":0.5618154406547546},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5521784424781799},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.503361165523529},{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.49382004141807556},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48341095447540283},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.43244418501853943},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.42221799492836},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41728562116622925},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3295830488204956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3065096139907837},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.26788169145584106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25202757120132446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17086800932884216},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11015194654464722}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9715380668640137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6438018083572388},{"id":"https://openalex.org/C96333769","wikidata":"https://www.wikidata.org/wiki/Q907955","display_name":"Graph traversal","level":3,"score":0.5618154406547546},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5521784424781799},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.503361165523529},{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.49382004141807556},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48341095447540283},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.43244418501853943},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.42221799492836},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41728562116622925},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3295830488204956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3065096139907837},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.26788169145584106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25202757120132446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17086800932884216},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11015194654464722},{"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/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s00371-013-0837-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00371-013-0837-x","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"},{"id":"pmh:oai:fraunhofer.de:N-286999","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-286999.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IDM@NTU","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/234577","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/234577","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W76064434","https://openalex.org/W1532701078","https://openalex.org/W1606594487","https://openalex.org/W1723433588","https://openalex.org/W1969483458","https://openalex.org/W2015296843","https://openalex.org/W2036114412","https://openalex.org/W2111308925","https://openalex.org/W2128990851","https://openalex.org/W2150500908","https://openalex.org/W2163178194","https://openalex.org/W2167366051","https://openalex.org/W2169528473","https://openalex.org/W2171066421","https://openalex.org/W2273298126","https://openalex.org/W2494779131","https://openalex.org/W2503162897","https://openalex.org/W2600720167","https://openalex.org/W2912199361","https://openalex.org/W3022683862","https://openalex.org/W3150997492"],"related_works":["https://openalex.org/W4256373148","https://openalex.org/W2953994797","https://openalex.org/W3209137076","https://openalex.org/W4223969905","https://openalex.org/W2374560440","https://openalex.org/W1490490684","https://openalex.org/W4221129498","https://openalex.org/W2887026015","https://openalex.org/W2361442013","https://openalex.org/W2373384475"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}