{"id":"https://openalex.org/W2086706470","doi":"https://doi.org/10.1016/0005-1098(87)90051-3","title":"Dynamic path planning for a planar articulated robot arm moving amidst unknown obstacles","display_name":"Dynamic path planning for a planar articulated robot arm moving amidst unknown obstacles","publication_year":1987,"publication_date":"1987-09-01","ids":{"openalex":"https://openalex.org/W2086706470","doi":"https://doi.org/10.1016/0005-1098(87)90051-3","mag":"2086706470"},"language":"en","primary_location":{"id":"doi:10.1016/0005-1098(87)90051-3","is_oa":false,"landing_page_url":"https://doi.org/10.1016/0005-1098(87)90051-3","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","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/A5069398285","display_name":"V. Lumelsky","orcid":"https://orcid.org/0000-0002-3605-089X"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vladimir J. Lumelsky","raw_affiliation_strings":["Department of Electrical Engineering, Yale University, New Haven, CT 06520, U.S.A","YALE UNIVERSITY, New Haven, CT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yale University, New Haven, CT 06520, U.S.A","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"YALE UNIVERSITY, New Haven, CT","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5069398285"],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":{"value":3500,"currency":"USD","value_usd":3500},"apc_paid":null,"fwci":8.4511,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.97764484,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"23","issue":"5","first_page":"551","last_page":"570"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9934999942779541,"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/revolute-joint","display_name":"Revolute joint","score":0.7628402709960938},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6856609582901001},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5839762687683105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5670677423477173},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.51609867811203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4891670048236847},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47560960054397583},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4550926685333252},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43305519223213196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3642953038215637},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14149156212806702}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7628402709960938},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6856609582901001},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5839762687683105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5670677423477173},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.51609867811203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4891670048236847},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47560960054397583},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4550926685333252},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43305519223213196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3642953038215637},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14149156212806702},{"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/0005-1098(87)90051-3","is_oa":false,"landing_page_url":"https://doi.org/10.1016/0005-1098(87)90051-3","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W3795417","https://openalex.org/W1502820991","https://openalex.org/W1512267351","https://openalex.org/W1558446093","https://openalex.org/W1581527321","https://openalex.org/W1873987791","https://openalex.org/W1901697964","https://openalex.org/W2001804342","https://openalex.org/W2010692862","https://openalex.org/W2029333278","https://openalex.org/W2033013465","https://openalex.org/W2042106485","https://openalex.org/W2052258220","https://openalex.org/W2062163812","https://openalex.org/W2072839015","https://openalex.org/W2079694260","https://openalex.org/W2098412395","https://openalex.org/W2105660272","https://openalex.org/W2119559506","https://openalex.org/W2138524742","https://openalex.org/W2139390199","https://openalex.org/W2141825555","https://openalex.org/W2730553237","https://openalex.org/W6600142284","https://openalex.org/W6630229034","https://openalex.org/W6630779618","https://openalex.org/W6634579506","https://openalex.org/W6639445758","https://openalex.org/W6639812512","https://openalex.org/W6647716406","https://openalex.org/W6660720754","https://openalex.org/W6675898719","https://openalex.org/W6680761468","https://openalex.org/W6740827487"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
