{"id":"https://openalex.org/W2066011869","doi":"https://doi.org/10.1007/s10514-005-4748-1","title":"Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step Retraction Method","display_name":"Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step Retraction Method","publication_year":2005,"publication_date":"2005-12-01","ids":{"openalex":"https://openalex.org/W2066011869","doi":"https://doi.org/10.1007/s10514-005-4748-1","mag":"2066011869"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-005-4748-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-005-4748-1","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","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/A5071315518","display_name":"Mitul Saha","orcid":"https://orcid.org/0000-0002-6338-5070"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mitul Saha","raw_affiliation_strings":["Computer Science Department, Stanford University, Stanford, CA, 94305, USA","Computer Science Department, Stanford University, Stanford, USA 94305"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, USA 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114247093","display_name":"Jean\u2010Claude Latombe","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Claude Latombe","raw_affiliation_strings":["Computer Science Department, Stanford University, Stanford, CA, 94305, USA","Computer Science Department, Stanford University, Stanford, USA 94305"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, USA 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031726267","display_name":"Yu\u2010Chi Chang","orcid":"https://orcid.org/0000-0003-2253-935X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu-Chi Chang","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA","Department of Mechanical Engineering, Stanford University, Stanford, USA 94305"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, USA 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110463073","display_name":"Friedrich Prinz","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Friedrich Prinz","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA","Department of Mechanical Engineering, Stanford University, Stanford, USA 94305"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, USA 94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071315518"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":1.7837,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.86159524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"3","first_page":"301","last_page":"319"},"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":0.9965999722480774,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944999814033508,"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/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.8240625858306885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7371699810028076},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7002624273300171},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6823620796203613},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6790974140167236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.643141508102417},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6338154077529907},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6304214000701904},{"id":"https://openalex.org/keywords/free-space","display_name":"Free space","score":0.5919176936149597},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5536782741546631},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5455619096755981},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5357676148414612},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.483566015958786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44437921047210693},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.430367112159729},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3726525604724884},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3337489664554596},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06743127107620239}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.8240625858306885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7371699810028076},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7002624273300171},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6823620796203613},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6790974140167236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.643141508102417},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6338154077529907},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6304214000701904},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.5919176936149597},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5536782741546631},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5455619096755981},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5357676148414612},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.483566015958786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44437921047210693},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.430367112159729},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3726525604724884},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3337489664554596},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06743127107620239},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-005-4748-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-005-4748-1","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.6200000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W2881148","https://openalex.org/W281357932","https://openalex.org/W1495392417","https://openalex.org/W1536373029","https://openalex.org/W1585638810","https://openalex.org/W1586146481","https://openalex.org/W1670942551","https://openalex.org/W1863997888","https://openalex.org/W1903715478","https://openalex.org/W1906034729","https://openalex.org/W1937587174","https://openalex.org/W1966159541","https://openalex.org/W1971315778","https://openalex.org/W1999250663","https://openalex.org/W2000359213","https://openalex.org/W2020065037","https://openalex.org/W2021927715","https://openalex.org/W2022854905","https://openalex.org/W2025998811","https://openalex.org/W2036016432","https://openalex.org/W2045851525","https://openalex.org/W2077976550","https://openalex.org/W2094539937","https://openalex.org/W2096636360","https://openalex.org/W2097075673","https://openalex.org/W2100656238","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2110320103","https://openalex.org/W2111994433","https://openalex.org/W2115257338","https://openalex.org/W2128990851","https://openalex.org/W2131011485","https://openalex.org/W2138800545","https://openalex.org/W2139062144","https://openalex.org/W2144067986","https://openalex.org/W2151402824","https://openalex.org/W2159722616","https://openalex.org/W2163670193","https://openalex.org/W2171266831","https://openalex.org/W2232710831","https://openalex.org/W2322951925","https://openalex.org/W2615415874","https://openalex.org/W2889299146","https://openalex.org/W2966015659","https://openalex.org/W3159914786","https://openalex.org/W4236470048","https://openalex.org/W4385490503","https://openalex.org/W6610229207","https://openalex.org/W6628906341","https://openalex.org/W6683784282","https://openalex.org/W6794937971"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W1483720348","https://openalex.org/W2013638832","https://openalex.org/W2124945447","https://openalex.org/W2092498346","https://openalex.org/W2392506312","https://openalex.org/W985713740","https://openalex.org/W2122724557","https://openalex.org/W2107702345","https://openalex.org/W2109932020"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
