{"id":"https://openalex.org/W1418115906","doi":"https://doi.org/10.1007/s00500-015-1750-1","title":"Relaxed Dijkstra and A* with linear complexity for robot path planning problems in large-scale grid environments","display_name":"Relaxed Dijkstra and A* with linear complexity for robot path planning problems in large-scale grid environments","publication_year":2015,"publication_date":"2015-07-22","ids":{"openalex":"https://openalex.org/W1418115906","doi":"https://doi.org/10.1007/s00500-015-1750-1","mag":"1418115906"},"language":"en","primary_location":{"id":"doi:10.1007/s00500-015-1750-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00500-015-1750-1","pdf_url":null,"source":{"id":"https://openalex.org/S65753830","display_name":"Soft Computing","issn_l":"1432-7643","issn":["1432-7643","1433-7479"],"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":"Soft Computing","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/A5014758459","display_name":"Adel Ammar","orcid":"https://orcid.org/0000-0003-0795-132X"},"institutions":[{"id":"https://openalex.org/I240666556","display_name":"Imam Mohammad ibn Saud Islamic University","ror":"https://ror.org/05gxjyb39","country_code":"SA","type":"education","lineage":["https://openalex.org/I240666556"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Adel Ammar","raw_affiliation_strings":["College of Computer and Information Sciences, Al Imam Mohammad Ibn Saud Islamic University (IMSIU), Riyadh, Kingdom of Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Sciences, Al Imam Mohammad Ibn Saud Islamic University (IMSIU), Riyadh, Kingdom of Saudi Arabia","institution_ids":["https://openalex.org/I240666556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032043599","display_name":"Hach\u00e9mi Bennaceur","orcid":null},"institutions":[{"id":"https://openalex.org/I240666556","display_name":"Imam Mohammad ibn Saud Islamic University","ror":"https://ror.org/05gxjyb39","country_code":"SA","type":"education","lineage":["https://openalex.org/I240666556"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Hachemi Bennaceur","raw_affiliation_strings":["College of Computer and Information Sciences, Al Imam Mohammad Ibn Saud Islamic University (IMSIU), Riyadh, Kingdom of Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Sciences, Al Imam Mohammad Ibn Saud Islamic University (IMSIU), Riyadh, Kingdom of Saudi Arabia","institution_ids":["https://openalex.org/I240666556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006849766","display_name":"I. Ch\u00e2ari","orcid":"https://orcid.org/0000-0002-8933-0166"},"institutions":[{"id":"https://openalex.org/I4210103399","display_name":"Saudi Heart Association","ror":"https://ror.org/01nrq5w30","country_code":"SA","type":"nonprofit","lineage":["https://openalex.org/I4210103399"]},{"id":"https://openalex.org/I83259278","display_name":"Manouba University","ror":"https://ror.org/0503ejf32","country_code":"TN","type":"education","lineage":["https://openalex.org/I83259278"]}],"countries":["SA","TN"],"is_corresponding":true,"raw_author_name":"Imen Ch\u00e2ari","raw_affiliation_strings":["Cooperative Intelligent Networked Systems (COINS) Research Group,  Riyadh, Saudi Arabia","University of Manouba, National School of Computer Science, Manouba, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cooperative Intelligent Networked Systems (COINS) Research Group,  Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I4210103399"]},{"raw_affiliation_string":"University of Manouba, National School of Computer Science, Manouba, Tunisia","institution_ids":["https://openalex.org/I83259278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024626195","display_name":"Anis Koub\u00e2a","orcid":"https://orcid.org/0000-0003-3787-7423"},"institutions":[{"id":"https://openalex.org/I83863532","display_name":"Polytechnic Institute of Porto","ror":"https://ror.org/04988re48","country_code":"PT","type":"education","lineage":["https://openalex.org/I83863532"]},{"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/I142024983","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26","country_code":"SA","type":"education","lineage":["https://openalex.org/I142024983"]},{"id":"https://openalex.org/I4210103399","display_name":"Saudi Heart Association","ror":"https://ror.org/01nrq5w30","country_code":"SA","type":"nonprofit","lineage":["https://openalex.org/I4210103399"]}],"countries":["PT","SA"],"is_corresponding":false,"raw_author_name":"Anis Koub\u00e2a","raw_affiliation_strings":["CISTER/INESC-TEC, ISEP, Polytechnic Institute of Porto, Porto, Portugal","College of Computer and Information Sciences, Prince Sultan University,  Riyadh, Saudi Arabia","Cooperative Intelligent Networked Systems (COINS) Research Group,  Riyadh, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CISTER/INESC-TEC, ISEP, Polytechnic Institute of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I83863532","https://openalex.org/I4210166615"]},{"raw_affiliation_string":"College of Computer and Information Sciences, Prince Sultan University,  Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]},{"raw_affiliation_string":"Cooperative Intelligent Networked Systems (COINS) Research Group,  Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I4210103399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028555421","display_name":"Maram Alajlan","orcid":"https://orcid.org/0000-0001-5445-4399"},"institutions":[{"id":"https://openalex.org/I240666556","display_name":"Imam Mohammad ibn Saud Islamic University","ror":"https://ror.org/05gxjyb39","country_code":"SA","type":"education","lineage":["https://openalex.org/I240666556"]},{"id":"https://openalex.org/I4210103399","display_name":"Saudi Heart Association","ror":"https://ror.org/01nrq5w30","country_code":"SA","type":"nonprofit","lineage":["https://openalex.org/I4210103399"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Maram Alajlan","raw_affiliation_strings":["Cooperative Intelligent Networked Systems (COINS) Research Group,  Riyadh, Saudi Arabia","Research Unit of Sciences and Technology, Al-Imam Mohamed bin Saud University, Riyadh, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cooperative Intelligent Networked Systems (COINS) Research Group,  Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I4210103399"]},{"raw_affiliation_string":"Research Unit of Sciences and Technology, Al-Imam Mohamed bin Saud University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I240666556"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006849766"],"corresponding_institution_ids":["https://openalex.org/I4210103399","https://openalex.org/I83259278"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":2.8075,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":{"value":0.93547169,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"20","issue":"10","first_page":"4149","last_page":"4171"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.9842000007629395,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.8684070110321045},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6844049692153931},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6192498207092285},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6185581088066101},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5924181342124939},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5619736909866333},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5529878735542297},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.534123957157135},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5330131649971008},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4990220069885254},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4499831199645996},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.427106648683548},{"id":"https://openalex.org/keywords/a*-search-algorithm","display_name":"A* search algorithm","score":0.4186978340148926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29641255736351013},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2787300944328308},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2754807472229004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16510075330734253}],"concepts":[{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.8684070110321045},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6844049692153931},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6192498207092285},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6185581088066101},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5924181342124939},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5619736909866333},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5529878735542297},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.534123957157135},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5330131649971008},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4990220069885254},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4499831199645996},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.427106648683548},{"id":"https://openalex.org/C103578098","wikidata":"https://www.wikidata.org/wiki/Q277680","display_name":"A* search algorithm","level":2,"score":0.4186978340148926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29641255736351013},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2787300944328308},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2754807472229004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16510075330734253},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s00500-015-1750-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00500-015-1750-1","pdf_url":null,"source":{"id":"https://openalex.org/S65753830","display_name":"Soft Computing","issn_l":"1432-7643","issn":["1432-7643","1433-7479"],"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":"Soft Computing","raw_type":"journal-article"},{"id":"pmh:oai:recipp.ipp.pt:10400.22/8969","is_oa":false,"landing_page_url":"http://hdl.handle.net/10400.22/8969","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":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":[{"id":"https://metadata.un.org/sdg/11","score":0.6399999856948853,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320327702","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W48933905","https://openalex.org/W135651235","https://openalex.org/W187834424","https://openalex.org/W198732646","https://openalex.org/W1588228181","https://openalex.org/W1931593102","https://openalex.org/W1964475319","https://openalex.org/W1969483458","https://openalex.org/W2006385089","https://openalex.org/W2053882594","https://openalex.org/W2082473446","https://openalex.org/W2090176338","https://openalex.org/W2111160151","https://openalex.org/W2117211893","https://openalex.org/W2122410182","https://openalex.org/W2135125135","https://openalex.org/W2138403771","https://openalex.org/W2161076907","https://openalex.org/W2163169902","https://openalex.org/W2169528473","https://openalex.org/W2172107427","https://openalex.org/W2186240779","https://openalex.org/W2294319407","https://openalex.org/W2294663333","https://openalex.org/W2488673907","https://openalex.org/W2548458395","https://openalex.org/W3021035068","https://openalex.org/W4240768127","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W3158077537","https://openalex.org/W2887026015","https://openalex.org/W2990531685","https://openalex.org/W2368795992","https://openalex.org/W4310124294","https://openalex.org/W2886722595","https://openalex.org/W2363342665","https://openalex.org/W3198947419","https://openalex.org/W2368688974","https://openalex.org/W3088868185"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":29},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
