{"id":"https://openalex.org/W2063157981","doi":"https://doi.org/10.1017/s0263574707003669","title":"Geometry for robot path planning","display_name":"Geometry for robot path planning","publication_year":2007,"publication_date":"2007-08-01","ids":{"openalex":"https://openalex.org/W2063157981","doi":"https://doi.org/10.1017/s0263574707003669","mag":"2063157981"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574707003669","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707003669","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/A5001541606","display_name":"Lyle Noakes","orcid":"https://orcid.org/0000-0001-9595-0735"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Lyle Noakes","raw_affiliation_strings":["School of Mathematics and Statistics, University of Western Australia, Nedlands, WA 6009 Perth, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics and Statistics, University of Western Australia, Nedlands, WA 6009 Perth, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070021266","display_name":"Tomasz Popiel","orcid":"https://orcid.org/0000-0003-2974-1470"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tomasz Popiel","raw_affiliation_strings":["School of Mathematics and Statistics, University of Western Australia, Nedlands, WA 6009 Perth, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics and Statistics, University of Western Australia, Nedlands, WA 6009 Perth, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001541606"],"corresponding_institution_ids":["https://openalex.org/I177877127"],"apc_list":null,"apc_paid":null,"fwci":1.2848,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80270981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"25","issue":"6","first_page":"691","last_page":"701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/T12504","display_name":"Mathematics and Applications","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2608","display_name":"Geometry and Topology"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.6484991312026978},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5883898735046387},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5723931789398193},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5717234015464783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5109397768974304},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4896846115589142},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.4335746169090271},{"id":"https://openalex.org/keywords/tone","display_name":"Tone (literature)","score":0.41838452219963074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39470165967941284},{"id":"https://openalex.org/keywords/calculus","display_name":"Calculus (dental)","score":0.3630565404891968},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3512321710586548},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3462942838668823},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16430947184562683},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08823880553245544}],"concepts":[{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.6484991312026978},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5883898735046387},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5723931789398193},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5717234015464783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5109397768974304},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4896846115589142},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.4335746169090271},{"id":"https://openalex.org/C2780583480","wikidata":"https://www.wikidata.org/wiki/Q1366327","display_name":"Tone (literature)","level":2,"score":0.41838452219963074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39470165967941284},{"id":"https://openalex.org/C2777686260","wikidata":"https://www.wikidata.org/wiki/Q144037","display_name":"Calculus (dental)","level":2,"score":0.3630565404891968},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3512321710586548},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3462942838668823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16430947184562683},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08823880553245544},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C199343813","wikidata":"https://www.wikidata.org/wiki/Q12128","display_name":"Dentistry","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574707003669","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707003669","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"},{"id":"pmh:oai:pure.atira.dk:publications/e69de2c7-637f-4dd8-ba6d-b82f81a4502b","is_oa":false,"landing_page_url":"https://research-repository.uwa.edu.au/en/publications/e69de2c7-637f-4dd8-ba6d-b82f81a4502b","pdf_url":null,"source":{"id":"https://openalex.org/S4306402523","display_name":"UWA Profiles and Research Repository (University of Western Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Noakes , L & Popiel , T 2007 , ' Geometry for robot path planning ' , Robotica , vol. 25 , no. 6 , pp. 691-701 . https://doi.org/10.1017/S0263574707003669","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W243180070","https://openalex.org/W361146540","https://openalex.org/W569738279","https://openalex.org/W624213318","https://openalex.org/W651557650","https://openalex.org/W1524850277","https://openalex.org/W1525296983","https://openalex.org/W1527697199","https://openalex.org/W1591325527","https://openalex.org/W1593258975","https://openalex.org/W1651844592","https://openalex.org/W1664701315","https://openalex.org/W1737290713","https://openalex.org/W1961157885","https://openalex.org/W1968177950","https://openalex.org/W1970439956","https://openalex.org/W1973484256","https://openalex.org/W1982241268","https://openalex.org/W1982729005","https://openalex.org/W1986281772","https://openalex.org/W1986578548","https://openalex.org/W2001133651","https://openalex.org/W2003173111","https://openalex.org/W2004846010","https://openalex.org/W2006898715","https://openalex.org/W2008162898","https://openalex.org/W2012433022","https://openalex.org/W2017888353","https://openalex.org/W2030136249","https://openalex.org/W2030394252","https://openalex.org/W2030527848","https://openalex.org/W2032070022","https://openalex.org/W2034940548","https://openalex.org/W2038842081","https://openalex.org/W2064548494","https://openalex.org/W2066031421","https://openalex.org/W2067830386","https://openalex.org/W2070505166","https://openalex.org/W2075044090","https://openalex.org/W2076123236","https://openalex.org/W2076231474","https://openalex.org/W2089358519","https://openalex.org/W2091743831","https://openalex.org/W2108564727","https://openalex.org/W2116334708","https://openalex.org/W2125275573","https://openalex.org/W2128574024","https://openalex.org/W2142179155","https://openalex.org/W2143666651","https://openalex.org/W2147774191","https://openalex.org/W2151394936","https://openalex.org/W2153780965","https://openalex.org/W2161469547","https://openalex.org/W2162870748","https://openalex.org/W2164266004","https://openalex.org/W2168399467","https://openalex.org/W2297213152","https://openalex.org/W2316439619","https://openalex.org/W2482518597","https://openalex.org/W2512301343","https://openalex.org/W2768498986","https://openalex.org/W3129861368","https://openalex.org/W3143000496","https://openalex.org/W4206315580","https://openalex.org/W4254529118","https://openalex.org/W4294545087","https://openalex.org/W6635362628"],"related_works":["https://openalex.org/W2799139340","https://openalex.org/W2000120653","https://openalex.org/W1998133575","https://openalex.org/W2176548496","https://openalex.org/W2065963568","https://openalex.org/W2540676782","https://openalex.org/W2119172555","https://openalex.org/W1982387418","https://openalex.org/W2610147447","https://openalex.org/W4293530535"],"abstract_inverted_index":{"SUMMARY":[0],"There":[1],"have":[2,55,126],"been":[3],"many":[4],"interesting":[5],"recent":[6,122],"results":[7,91,124],"in":[8,17,47,73,84,117],"the":[9,79,90,133],"area":[10],"of":[11,28,108],"geometrical":[12,82,93],"methods":[13,83,109],"for":[14,77,81],"path":[15,85],"planning":[16],"robotics.":[18],"So":[19],"it":[20],"seems":[21],"very":[22,32],"timely":[23],"to":[24,45,58,115],"attempt":[25],"a":[26,56,106],"description":[27],"mathematical":[29,123],"developments":[30],"surrounding":[31],"elementary":[33,72],"engineering":[34],"tasks.":[35],"Even":[36],"with":[37,60],"such":[38],"limited":[39],"scope,":[40],"there":[41],"is":[42,62,70],"too":[43],"much":[44],"cover":[46],"detail.":[48],"Inevitably,":[49],"our":[50],"knowledge":[51],"and":[52,75],"personal":[53],"preferences":[54],"lot":[57],"do":[59],"what":[61],"emphasised,":[63],"included,":[64],"or":[65],"left":[66],"out.":[67],"Part":[68,87,103],"I":[69],"introductory,":[71],"tone,":[74],"important":[76],"understanding":[78],"need":[80],"planning.":[86],"II":[88],"describes":[89],"on":[92],"constructions":[94,98],"that":[95,125],"imitate":[96],"well-known":[97],"from":[99],"classical":[100,111],"approximation":[101],"theory.":[102],"III":[104],"reviews":[105],"class":[107],"where":[110],"criteria":[112],"are":[113],"extended":[114],"curves":[116],"Riemannian":[118],"manifolds,":[119],"including":[120],"several":[121],"not":[127],"yet":[128],"found":[129],"their":[130],"way":[131],"into":[132],"literature.":[134]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}