{"id":"https://openalex.org/W4403511283","doi":"https://doi.org/10.1080/01691864.2024.2411685","title":"Efficient micro-mobility path planning without using high-definition maps","display_name":"Efficient micro-mobility path planning without using high-definition maps","publication_year":2024,"publication_date":"2024-10-17","ids":{"openalex":"https://openalex.org/W4403511283","doi":"https://doi.org/10.1080/01691864.2024.2411685"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2411685","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2411685","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2411685?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2411685?needAccess=true","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Koki Aizawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Koki Aizawa","raw_affiliation_strings":["Honda R&amp;D Co., Ltd, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Co., Ltd, Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114313195","display_name":"Yunosuke Kuramitsu","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yunosuke Kuramitsu","raw_affiliation_strings":["Honda R&amp;D Co., Ltd, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Co., Ltd, Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048149131","display_name":"Hideki Matsunaga","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideki Matsunaga","raw_affiliation_strings":["Honda R&amp;D Co., Ltd, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Co., Ltd, Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109523475","display_name":"Yuji Yasui","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Yasui","raw_affiliation_strings":["Honda R&amp;D Co., Ltd, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda R&amp;D Co., Ltd, Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1283473643"],"apc_list":null,"apc_paid":null,"fwci":0.2166,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51569501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"38","issue":"22","first_page":"1616","last_page":"1633"},"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":0.9941999912261963,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5691505074501038},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5425503849983215},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5335408449172974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39133167266845703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22242754697799683},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09544691443443298}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5691505074501038},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5425503849983215},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5335408449172974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39133167266845703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22242754697799683},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09544691443443298}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2024.2411685","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2411685","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2411685?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2024.2411685","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2411685","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2411685?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403511283.pdf","grobid_xml":"https://content.openalex.org/works/W4403511283.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W146900863","https://openalex.org/W1554604621","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2109061107","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2158137377","https://openalex.org/W2167340365","https://openalex.org/W2889923199","https://openalex.org/W2962917939","https://openalex.org/W2968104655","https://openalex.org/W2971092880","https://openalex.org/W2997061791","https://openalex.org/W3104753760","https://openalex.org/W4206770564","https://openalex.org/W4220840735","https://openalex.org/W4230296916","https://openalex.org/W4250685322","https://openalex.org/W4360823144","https://openalex.org/W4384284172","https://openalex.org/W4392908015","https://openalex.org/W4401416505"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Efficient":[0],"path":[1,44,65,103,164],"planning":[2,17,66,165],"is":[3],"crucial":[4],"for":[5,19,38,68,162],"the":[6,24,27,43,85,144,157],"safe":[7],"autonomous":[8],"operation":[9],"of":[10,159],"micro-mobility":[11,163],"vehicles":[12],"in":[13,26,40,119,150],"unknown":[14,41,120],"environments.":[15],"When":[16],"paths":[18],"micro-mobility,":[20],"factors,":[21],"such":[22],"as":[23],"changes":[25],"user's":[28],"intended":[29],"destination":[30],"and":[31,81,122,153],"user":[32],"comfort,":[33],"must":[34],"be":[35],"considered.":[36],"Moreover,":[37],"driving":[39,70],"areas,":[42],"planner":[45,134],"should":[46],"not":[47],"rely":[48],"on":[49,87,106],"predetermined":[50],"detailed":[51],"information":[52],"like":[53],"High-Definition":[54],"maps":[55],"(HD":[56],"maps).":[57],"In":[58],"this":[59],"paper,":[60],"we":[61,130],"propose":[62],"an":[63,96,112],"innovative":[64],"algorithm":[67],"automated":[69],"that":[71,135],"solely":[72],"uses":[73],"basic":[74],"perception":[75,93,168],"data":[76,94],"from":[77],"RGB":[78],"camera,":[79],"IMU":[80],"GPS,":[82],"thereby":[83],"eliminating":[84],"dependency":[86],"HD":[88],"maps.":[89],"We":[90],"initially":[91],"convert":[92],"into":[95],"occupancy":[97],"grid":[98],"map.":[99],"Subsequently,":[100],"a":[101,107,132],"global":[102],"planner,":[104],"based":[105],"modified":[108],"A*":[109],"algorithm,":[110],"computes":[111],"efficient":[113],"trajectory,":[114],"particularly":[115],"adept":[116],"to":[117,123,142],"navigation":[118],"environments":[121],"scenarios":[124],"where":[125],"goal":[126],"position":[127],"moves.":[128],"Additionally,":[129],"developed":[131],"local":[133],"optimize":[136],"multi-clothoid":[137],"curves":[138],"using":[139,166],"designed":[140],"constraints":[141],"predict":[143],"best":[145],"trajectory.":[146],"Our":[147],"experiments,":[148],"conducted":[149],"both":[151],"simulated":[152],"real-world":[154],"environments,":[155],"validate":[156],"effectiveness":[158],"our":[160],"approach":[161],"only":[167],"data.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}
