{"id":"https://openalex.org/W2057089949","doi":"https://doi.org/10.1017/s0263574713000489","title":"A real-time motion planning algorithm for a hyper-redundant set of mechanisms","display_name":"A real-time motion planning algorithm for a hyper-redundant set of mechanisms","publication_year":2013,"publication_date":"2013-06-11","ids":{"openalex":"https://openalex.org/W2057089949","doi":"https://doi.org/10.1017/s0263574713000489","mag":"2057089949"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713000489","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000489","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/A5079590419","display_name":"Nir Shvalb","orcid":"https://orcid.org/0000-0001-8246-3727"},"institutions":[{"id":"https://openalex.org/I52170813","display_name":"Ariel University","ror":"https://ror.org/03nz8qe97","country_code":"IL","type":"education","lineage":["https://openalex.org/I52170813"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Nir Shvalb","raw_affiliation_strings":["Mechanical Engineering, Ariel University, Ariel, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Ariel University, Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067242643","display_name":"Boaz Ben Moshe","orcid":null},"institutions":[{"id":"https://openalex.org/I52170813","display_name":"Ariel University","ror":"https://ror.org/03nz8qe97","country_code":"IL","type":"education","lineage":["https://openalex.org/I52170813"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Boaz Ben Moshe","raw_affiliation_strings":["Computer Science, Ariel University, Ariel, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, Ariel University, Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080922251","display_name":"Oded Medina","orcid":null},"institutions":[{"id":"https://openalex.org/I52170813","display_name":"Ariel University","ror":"https://ror.org/03nz8qe97","country_code":"IL","type":"education","lineage":["https://openalex.org/I52170813"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Oded Medina","raw_affiliation_strings":["Industrial Engineering, Ariel University, Ariel, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Engineering, Ariel University, Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079590419"],"corresponding_institution_ids":["https://openalex.org/I52170813"],"apc_list":null,"apc_paid":null,"fwci":2.2092,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.89519183,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"31","issue":"8","first_page":"1327","last_page":"1335"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9918000102043152,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/algorithm","display_name":"Algorithm","score":0.6676551103591919},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6529823541641235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.505261242389679},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.488869845867157},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.486422061920166},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4739306569099426},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.44778972864151},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4391309320926666},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4336385428905487},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.4197441041469574},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.41853466629981995},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4155268669128418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3905353248119354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3727729618549347},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3282627463340759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2774561643600464},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07717332243919373}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6676551103591919},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6529823541641235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.505261242389679},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.488869845867157},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.486422061920166},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4739306569099426},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.44778972864151},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4391309320926666},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4336385428905487},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.4197441041469574},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.41853466629981995},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4155268669128418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3905353248119354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3727729618549347},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3282627463340759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2774561643600464},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07717332243919373},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/s0263574713000489","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000489","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":0.7799999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320273","display_name":"University of Cambridge","ror":"https://ror.org/013meh722"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1501172876","https://openalex.org/W1531368347","https://openalex.org/W1560270123","https://openalex.org/W1988819691","https://openalex.org/W2022921915","https://openalex.org/W2023525850","https://openalex.org/W2027637252","https://openalex.org/W2027693953","https://openalex.org/W2081505722","https://openalex.org/W2089982566","https://openalex.org/W2100874054","https://openalex.org/W2105248582","https://openalex.org/W2107934595","https://openalex.org/W2110144538","https://openalex.org/W2114193135","https://openalex.org/W2117212572","https://openalex.org/W2122893773","https://openalex.org/W2129927067","https://openalex.org/W2156021550","https://openalex.org/W2157848027","https://openalex.org/W2158575911","https://openalex.org/W2159047094","https://openalex.org/W2163829685","https://openalex.org/W2582998992","https://openalex.org/W3145680189","https://openalex.org/W4213199372","https://openalex.org/W4245286259","https://openalex.org/W4365799809","https://openalex.org/W6674887426","https://openalex.org/W6677136972"],"related_works":["https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2005695917","https://openalex.org/W2107702345","https://openalex.org/W2115192598","https://openalex.org/W4367628293","https://openalex.org/W2101993361","https://openalex.org/W1510039162"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1,53,73],"introduce":[2],"a":[3,23,33,55,65,79],"novel":[4],"probabilistic":[5,24],"algorithm":[6,20,28,77,92],"(CPRM)":[7],"for":[8],"real-time":[9],"motion":[10,31],"planning":[11],"in":[12,29],"the":[13,30,44,47,98],"configuration":[14],"space":[15],"${\\EuScript":[16,50,62],"C}$":[17],".":[18,52,72],"Our":[19],"differs":[21],"from":[22],"road":[25],"map":[26],"(PRM)":[27],"between":[32],"pair":[34],"of":[35,46,87,97],"anchoring":[36],"points":[37],"(local":[38],"planner)":[39],"which":[40],"takes":[41],"place":[42],"on":[43,60,78],"boundary":[45],"obstacle":[48],"subspace":[49],"O}$":[51,63],"define":[54],"varying":[56],"potential":[57],"field":[58],"f":[59],"\u2202":[61],"as":[64],"Morse":[66],"function":[67],"and":[68,89],"follow":[69],"$\\vec{\\nabla}":[70],"f$":[71],"then":[74],"exemplify":[75],"our":[76,91],"redundant":[80],"worm":[81],"climbing":[82],"robot":[83],"with":[84,95],"n":[85],"degrees":[86],"freedom":[88],"compare":[90],"running":[93],"results":[94],"those":[96],"PRM.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}