{"id":"https://openalex.org/W2147052848","doi":"https://doi.org/10.1017/s0263574704001183","title":"Trajectory planning for lab robots based on global vision and Voronoi roadmaps","display_name":"Trajectory planning for lab robots based on global vision and Voronoi roadmaps","publication_year":2005,"publication_date":"2005-06-14","ids":{"openalex":"https://openalex.org/W2147052848","doi":"https://doi.org/10.1017/s0263574704001183","mag":"2147052848"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704001183","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704001183","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5069153689","display_name":"Waldir L. Roque","orcid":"https://orcid.org/0000-0001-7058-6332"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Waldir L. Roque","raw_affiliation_strings":["Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS (Brazil","Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS (Brazil","institution_ids":["https://openalex.org/I130442723"]},{"raw_affiliation_string":"Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS, Brazil","institution_ids":["https://openalex.org/I130442723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112030066","display_name":"D. Doering","orcid":"https://orcid.org/0000-0001-5182-9044"},"institutions":[{"id":"https://openalex.org/I130442723","display_name":"Universidade Federal do Rio Grande do Sul","ror":"https://ror.org/041yk2d64","country_code":"BR","type":"education","lineage":["https://openalex.org/I130442723"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Dion\u00edsio Doering","raw_affiliation_strings":["Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS (Brazil","Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS (Brazil","institution_ids":["https://openalex.org/I130442723"]},{"raw_affiliation_string":"Instituto de Matem\u00e1tica, Universidade Federal do Rio Grande do Sul, 91509-900 Porto Alegre, RS, Brazil","institution_ids":["https://openalex.org/I130442723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2991,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.63534435,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"23","issue":"4","first_page":"467","last_page":"477"},"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":0.9998000264167786,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9987000226974487,"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/motion-planning","display_name":"Motion planning","score":0.8207895755767822},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7849454879760742},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.7577752470970154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6577097773551941},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6520194411277771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6433178782463074},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.6158087253570557},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6102248430252075},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5467376708984375},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5305365324020386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4870045781135559},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4538818299770355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41673940420150757},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3337385654449463},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1428012251853943},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08012866973876953}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8207895755767822},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7849454879760742},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.7577752470970154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6577097773551941},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6520194411277771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6433178782463074},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.6158087253570557},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6102248430252075},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5467376708984375},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5305365324020386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4870045781135559},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4538818299770355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41673940420150757},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3337385654449463},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1428012251853943},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08012866973876953},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574704001183","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704001183","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1553171952","https://openalex.org/W1608027522","https://openalex.org/W1829541011","https://openalex.org/W1878086965","https://openalex.org/W1965356290","https://openalex.org/W1967005434","https://openalex.org/W1974909294","https://openalex.org/W1981747019","https://openalex.org/W2005089525","https://openalex.org/W2016814475","https://openalex.org/W2017134556","https://openalex.org/W2032338774","https://openalex.org/W2050061337","https://openalex.org/W2063071922","https://openalex.org/W2069295011","https://openalex.org/W2076015041","https://openalex.org/W2092924973","https://openalex.org/W2101889110","https://openalex.org/W2114785422","https://openalex.org/W2125400268","https://openalex.org/W2152289008","https://openalex.org/W2184125692","https://openalex.org/W3041834803"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W2971758839","https://openalex.org/W3036618925"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,9,36,41,44,52,56,61,68,77,84,96],"techniques":[4],"and":[5,27,34,43,67,80],"their":[6],"applications":[7],"in":[8],"development":[10],"of":[11,17,90],"a":[12],"path":[13,66,85],"planning":[14,25,86],"system":[15],"composed":[16],"three":[18,88],"modules,":[19],"namely:":[20],"global":[21],"vision":[22],"(GVM),":[23],"trajectory":[24],"(TPM)":[26],"navigation":[28],"control":[29],"(NCM).":[30],"The":[31,74],"GVM":[32],"captures":[33],"processes":[35],"workspace":[37],"image":[38],"to":[39,54,59],"identify":[40],"obstacle":[42],"robot":[45,78,98],"configurations.":[46,73],"These":[47],"configurations":[48],"are":[49],"used":[50],"by":[51],"TPM":[53],"generate":[55],"Voronoi":[57],"roadmap,":[58],"compute":[60],"maximal":[62],"clearance":[63],"shortest":[64],"feasible":[65],"visibility":[69],"pathway":[70],"between":[71],"two":[72],"NCM":[75],"controls":[76],"functionalities":[79],"navigation.":[81],"To":[82],"validate":[83],"system,":[87],"sets":[89],"experiments":[91],"have":[92,101],"been":[93],"conducted":[94],"using":[95],"Lab":[97],"Khepera,":[99],"which":[100],"shown":[102],"very":[103],"good":[104],"results.":[105]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}