{"id":"https://openalex.org/W3085594901","doi":"https://doi.org/10.1017/s0263574720000806","title":"Safe Motion Planning Based on a New Encoding Technique for Tree Expansion Using Particle Swarm Optimization","display_name":"Safe Motion Planning Based on a New Encoding Technique for Tree Expansion Using Particle Swarm Optimization","publication_year":2020,"publication_date":"2020-09-10","ids":{"openalex":"https://openalex.org/W3085594901","doi":"https://doi.org/10.1017/s0263574720000806","mag":"3085594901"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000806","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000806","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/A5076861345","display_name":"Sara Bouraine","orcid":"https://orcid.org/0000-0002-7656-844X"},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Sara Bouraine","raw_affiliation_strings":["Center for the Development of Advanced Technologies (CDTA), Baba Hassen, Algiers, Algeria"],"raw_orcid":"https://orcid.org/0000-0002-7656-844X","affiliations":[{"raw_affiliation_string":"Center for the Development of Advanced Technologies (CDTA), Baba Hassen, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007777913","display_name":"Ouahiba Azouaoui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Ouahiba Azouaoui","raw_affiliation_strings":["Center for the Development of Advanced Technologies (CDTA), Baba Hassen, Algiers, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for the Development of Advanced Technologies (CDTA), Baba Hassen, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076861345"],"corresponding_institution_ids":["https://openalex.org/I4210102186"],"apc_list":null,"apc_paid":null,"fwci":1.275,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82759534,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"39","issue":"5","first_page":"885","last_page":"927"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.989300012588501,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9829999804496765,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6919651031494141},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6896047592163086},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6626325249671936},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.5852504372596741},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5753403306007385},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5696557760238647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5293107032775879},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5004417896270752},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4949340224266052},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4775979518890381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47279852628707886},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.45018988847732544},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4375185966491699},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43516698479652405},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42604732513427734},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2671593725681305},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19479796290397644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14571630954742432}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6919651031494141},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6896047592163086},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6626325249671936},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5852504372596741},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5753403306007385},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5696557760238647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5293107032775879},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5004417896270752},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4949340224266052},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4775979518890381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47279852628707886},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.45018988847732544},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4375185966491699},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43516698479652405},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42604732513427734},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2671593725681305},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19479796290397644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14571630954742432},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720000806","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000806","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":0.5899999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":104,"referenced_works":["https://openalex.org/W19888102","https://openalex.org/W1492106702","https://openalex.org/W1492640216","https://openalex.org/W1563055131","https://openalex.org/W1585104299","https://openalex.org/W1602410440","https://openalex.org/W1825068554","https://openalex.org/W1889956542","https://openalex.org/W1968478252","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976174214","https://openalex.org/W1977085960","https://openalex.org/W1978872544","https://openalex.org/W1979743043","https://openalex.org/W1979785172","https://openalex.org/W1990297170","https://openalex.org/W1990356248","https://openalex.org/W1992629886","https://openalex.org/W1994001763","https://openalex.org/W1998949401","https://openalex.org/W2000359213","https://openalex.org/W2000790002","https://openalex.org/W2002201291","https://openalex.org/W2004711524","https://openalex.org/W2004959009","https://openalex.org/W2015090140","https://openalex.org/W2016956950","https://openalex.org/W2019965290","https://openalex.org/W2023091179","https://openalex.org/W2030558783","https://openalex.org/W2032681112","https://openalex.org/W2036016432","https://openalex.org/W2037042048","https://openalex.org/W2042225474","https://openalex.org/W2052276506","https://openalex.org/W2055850539","https://openalex.org/W2056549180","https://openalex.org/W2059007332","https://openalex.org/W2061040762","https://openalex.org/W2066328379","https://openalex.org/W2071193060","https://openalex.org/W2076857141","https://openalex.org/W2099593662","https://openalex.org/W2099893201","https://openalex.org/W2100469802","https://openalex.org/W2100498714","https://openalex.org/W2111112078","https://openalex.org/W2116311127","https://openalex.org/W2117473144","https://openalex.org/W2119926658","https://openalex.org/W2120926902","https://openalex.org/W2121204166","https://openalex.org/W2121949800","https://openalex.org/W2122773086","https://openalex.org/W2127617835","https://openalex.org/W2131505299","https://openalex.org/W2132405969","https://openalex.org/W2133099608","https://openalex.org/W2136264806","https://openalex.org/W2136349505","https://openalex.org/W2141698884","https://openalex.org/W2142183404","https://openalex.org/W2142271413","https://openalex.org/W2144329458","https://openalex.org/W2145089737","https://openalex.org/W2148332992","https://openalex.org/W2152195021","https://openalex.org/W2152365564","https://openalex.org/W2155974215","https://openalex.org/W2159183929","https://openalex.org/W2161721480","https://openalex.org/W2161819990","https://openalex.org/W2165299997","https://openalex.org/W2166052572","https://openalex.org/W2167683317","https://openalex.org/W2167869989","https://openalex.org/W2167918262","https://openalex.org/W2169528473","https://openalex.org/W2170431305","https://openalex.org/W2171414411","https://openalex.org/W2203849566","https://openalex.org/W2206539748","https://openalex.org/W2249846468","https://openalex.org/W2293857326","https://openalex.org/W2296385533","https://openalex.org/W2297395784","https://openalex.org/W2317744239","https://openalex.org/W2418599096","https://openalex.org/W2470235696","https://openalex.org/W2480615046","https://openalex.org/W2541860252","https://openalex.org/W2569338730","https://openalex.org/W2900479878","https://openalex.org/W3083074253","https://openalex.org/W3158724210","https://openalex.org/W4235740860","https://openalex.org/W4245959779","https://openalex.org/W4247346963","https://openalex.org/W4255887171","https://openalex.org/W4301173492","https://openalex.org/W6642555851","https://openalex.org/W6679650830","https://openalex.org/W6681821313"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W1508899372","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611"],"abstract_inverted_index":{"SUMMARY":[0],"Robots":[1],"are":[2,147],"now":[3],"among":[4],"us":[5],"and":[6,18,60,109,173,201,246,275],"even":[7],"though":[8],"they":[9,20],"compete":[10],"with":[11,164,169,212],"human":[12],"beings":[13],"in":[14,49,53,89,150,153,269,280],"terms":[15],"of":[16,27,46,72,115,143,156,206,216,229,243],"performance":[17],"efficiency,":[19],"still":[21],"fail":[22],"to":[23,76,83,187,219,271,276],"meet":[24],"the":[25,43,57,61,116,144,154,204,217,227,247],"challenge":[26],"performing":[28],"a":[29,78,90,103,112,124,130,197,213,240,261],"task":[30],"optimally":[31],"while":[32,167],"providing":[33],"strict":[34],"motion":[35,62,79,94,234],"safety":[36,63],"guarantees.":[37],"It":[38,99],"is":[39,75,96,100,178,210,254],"therefore":[40],"necessary":[41],"that":[42,106,159,195],"future":[44],"generation":[45],"robots":[47],"evolves":[48],"this":[50,73,220],"direction.":[51],"Generally,":[52],"robotics":[54],"state-of-the-art":[55],"approaches,":[56],"trajectory":[58,128,209],"optimization":[59,139],"issues":[64],"have":[65],"been":[66],"addressed":[67],"separately.":[68],"An":[69],"important":[70],"contribution":[71],"paper":[74],"propose":[77],"planning":[80,108,235],"method":[81],"intended":[82],"simultaneously":[84],"solve":[85],"these":[86],"two":[87,232],"problems":[88],"formal":[91],"way.":[92],"This":[93],"planner":[95],"dubbed":[97],"PassPMP-PSO.":[98],"based":[101,135],"on":[102,136,260],"periodic":[104],"process":[105],"interleaves":[107],"execution":[110],"for":[111,180,196],"regular":[113],"update":[114],"environment\u2019s":[117],"information.":[118],"At":[119],"each":[120],"cycle,":[121],"PassPMP-PSO":[122,176,230,244,252],"computes":[123],"safe":[125],"near-optimal":[126],"partial":[127],"using":[129,265],"new":[131],"tree":[132,182],"encoding":[133],"technique":[134],"particle":[137],"swarm":[138],"(PSO).":[140],"The":[141,175,192],"performances":[142,228],"proposed":[145],"approach":[146],"firstly":[148],"highlighted":[149],"simulation":[151,273],"environments":[152],"presence":[155],"moving":[157],"objects":[158],"travel":[160],"at":[161],"high":[162],"speed":[163],"arbitrary":[165],"trajectories,":[166],"dealing":[168],"sensors":[170],"field-of-view":[171],"limits":[172],"occlusions.":[174],"algorithm":[177,218,253],"tested":[179],"different":[181],"expansions":[183],"going":[184],"from":[185],"13":[186],"more":[188],"than":[189],"200":[190],"nodes.":[191],"results":[193,274],"show":[194],"population":[198],"between":[199],"20":[200],"100":[202],"particles,":[203],"frequency":[205],"obtaining":[207],"optimal":[208],"100%":[211],"rapid":[214],"convergence":[215],"solution.":[221],"Furthermore,":[222],"an":[223],"experiment-based":[224],"comparison":[225],"demonstrates":[226],"over":[231],"other":[233],"methods":[236],"(the":[237],"PassPMP":[238],",":[239,245],"previous":[241],"variant":[242],"input":[248],"space":[249],"sampling).":[250],"Finally,":[251],"assessed":[255],"through":[256],"experimental":[257],"tests":[258],"performed":[259],"real":[262,281],"robotic":[263],"platform":[264],"robot":[266],"operating":[267],"system":[268],"order":[270],"confirm":[272],"prove":[277],"its":[278],"efficiency":[279],"experiments.":[282]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}