{"id":"https://openalex.org/W2136957179","doi":"https://doi.org/10.1017/s0263574712000331","title":"Reactive and the shortest path navigation of a wheeled mobile robot in cluttered environments","display_name":"Reactive and the shortest path navigation of a wheeled mobile robot in cluttered environments","publication_year":2012,"publication_date":"2012-07-10","ids":{"openalex":"https://openalex.org/W2136957179","doi":"https://doi.org/10.1017/s0263574712000331","mag":"2136957179"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000331","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000331","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/A5081925619","display_name":"Andrey V. Savkin","orcid":"https://orcid.org/0000-0001-9390-6634"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Andrey V. Savkin","raw_affiliation_strings":["School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia","School of Electrical Engineering and Telecommunication , University of New South Wales , Sydney , Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Electrical Engineering and Telecommunication , University of New South Wales , Sydney , Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018319213","display_name":"Michael Hoy","orcid":"https://orcid.org/0009-0003-0718-8827"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Michael Hoy","raw_affiliation_strings":["School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia","School of Electrical Engineering and Telecommunication , University of New South Wales , Sydney , Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Telecommunication, University of New South Wales, Sydney, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Electrical Engineering and Telecommunication , University of New South Wales , Sydney , Australia","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018319213"],"corresponding_institution_ids":["https://openalex.org/I31746571"],"apc_list":null,"apc_paid":null,"fwci":4.1639,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.94949956,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"31","issue":"2","first_page":"323","last_page":"330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9908000230789185,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/mobile-robot","display_name":"Mobile robot","score":0.7830784320831299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6242573261260986},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5904178619384766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5522465705871582},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.539059042930603},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5371637344360352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45705482363700867},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45702478289604187},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4132327139377594},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34984874725341797},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.27562451362609863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18999820947647095},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05388998985290527}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7830784320831299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6242573261260986},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5904178619384766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5522465705871582},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.539059042930603},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5371637344360352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45705482363700867},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45702478289604187},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4132327139377594},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34984874725341797},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27562451362609863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18999820947647095},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05388998985290527},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000331","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000331","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1496554474","https://openalex.org/W1514632510","https://openalex.org/W1968975597","https://openalex.org/W1973179349","https://openalex.org/W1974311132","https://openalex.org/W1989052211","https://openalex.org/W1998813085","https://openalex.org/W2007983629","https://openalex.org/W2010731658","https://openalex.org/W2024509485","https://openalex.org/W2049235920","https://openalex.org/W2056872251","https://openalex.org/W2090539262","https://openalex.org/W2097085565","https://openalex.org/W2101502731","https://openalex.org/W2110482435","https://openalex.org/W2166503880","https://openalex.org/W2313274380"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W2618466475","https://openalex.org/W3081536868","https://openalex.org/W2523265608","https://openalex.org/W2122735287"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1],"determine":[2],"the":[3,48],"shortest":[4],"(minimal":[5],"in":[6,14,42],"length)":[7],"path":[8],"on":[9,26],"a":[10,15,24,34,55,75],"unicycle-like":[11],"mobile":[12,78],"robot":[13,40,49],"known":[16],"environment":[17,44],"with":[18,23,58,74],"smooth":[19],"(possibly":[20],"non-convex)":[21],"obstacles":[22],"constraint":[25],"curvature":[27],"of":[28,39,63],"their":[29],"boundaries.":[30],"Furthermore,":[31],"we":[32],"propose":[33],"new":[35],"reactive":[36],"randomized":[37],"algorithm":[38,65],"navigation":[41],"unknown":[43],"and":[45,53,71],"prove":[46],"that":[47],"will":[50],"avoid":[51],"collisions":[52],"reach":[54],"steady":[56],"target":[57],"probability":[59],"1.":[60],"The":[61],"performance":[62],"our":[64],"is":[66],"confirmed":[67],"by":[68],"computer":[69],"simulations":[70],"outdoor":[72],"experiments":[73],"Pioneer":[76],"P3-DX":[77],"wheeled":[79],"robot.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}