{"id":"https://openalex.org/W4394804899","doi":"https://doi.org/10.1109/access.2024.3389571","title":"Multi-Robot Guided Sampling-Based Motion Planning With Dynamics in Partially Mapped Environments","display_name":"Multi-Robot Guided Sampling-Based Motion Planning With Dynamics in Partially Mapped Environments","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4394804899","doi":"https://doi.org/10.1109/access.2024.3389571"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3389571","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3389571","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10500384.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10500384.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081479593","display_name":"Hoang-Dung Bui","orcid":"https://orcid.org/0000-0003-1901-7120"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hoang-Dung Bui","raw_affiliation_strings":["Department of Computer Science, George Mason University, Fairfax, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0002-6622-386X"},"institutions":[{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"funder","lineage":["https://openalex.org/I1311060795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erion Plaku","raw_affiliation_strings":["National Science Foundation, Alexandria, VA, USA"],"affiliations":[{"raw_affiliation_string":"National Science Foundation, Alexandria, VA, USA","institution_ids":["https://openalex.org/I1311060795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042000667","display_name":"G. Stein","orcid":"https://orcid.org/0000-0003-1981-4154"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory J. Stein","raw_affiliation_strings":["Department of Computer Science, George Mason University, Fairfax, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081479593"],"corresponding_institution_ids":["https://openalex.org/I162714631"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2567,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47688743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"12","issue":null,"first_page":"56448","last_page":"56460"},"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":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7814001441001892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7313151955604553},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7239338755607605},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6489049196243286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5772777795791626},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5454909801483154},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5399124622344971},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4859079420566559},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4599247872829437},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.449015349149704},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.427776962518692},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4189181327819824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0663003921508789}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7814001441001892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7313151955604553},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7239338755607605},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6489049196243286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5772777795791626},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5454909801483154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5399124622344971},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4859079420566559},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4599247872829437},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.449015349149704},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.427776962518692},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4189181327819824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0663003921508789},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3389571","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3389571","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10500384.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5896a63324b04361a81a3ba9562f8f88","is_oa":true,"landing_page_url":"https://doaj.org/article/5896a63324b04361a81a3ba9562f8f88","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 56448-56460 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3389571","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3389571","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10500384.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G8408111621","display_name":null,"funder_award_id":"2232733","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394804899.pdf","grobid_xml":"https://content.openalex.org/works/W4394804899.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1539216098","https://openalex.org/W1777480005","https://openalex.org/W2000359213","https://openalex.org/W2002548850","https://openalex.org/W2007193228","https://openalex.org/W2168359464","https://openalex.org/W2189076595","https://openalex.org/W2752574553","https://openalex.org/W2892258706","https://openalex.org/W2902591104","https://openalex.org/W2910893906","https://openalex.org/W2912668883","https://openalex.org/W3103635569","https://openalex.org/W3198009177","https://openalex.org/W3207750255","https://openalex.org/W4205691354","https://openalex.org/W4313005818","https://openalex.org/W4313150919","https://openalex.org/W4323644168","https://openalex.org/W4387124181","https://openalex.org/W6608150121","https://openalex.org/W6696955428"],"related_works":["https://openalex.org/W2130588278","https://openalex.org/W2140013578","https://openalex.org/W2551663027","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2132105173","https://openalex.org/W1980828932","https://openalex.org/W2908094156","https://openalex.org/W2161428574","https://openalex.org/W1972453571"],"abstract_inverted_index":{"Multi-robot":[0],"motion":[1,76,136],"planning":[2,77],"is":[3,10,39,85],"a":[4,47,71,92,120,133],"core":[5],"capability":[6],"in":[7,42,60,115,127,145,156],"robotics,":[8],"yet":[9],"made":[11],"challenging":[12,123],"by":[13],"the":[14,23,37,65,89,98,130,146],"need":[15],"to":[16,87,141],"simultaneously":[17],"consider":[18],"robot":[19,93],"dynamics,":[20],"robots":[21,109,114],"obstructing":[22],"paths":[24],"of":[25,119,122,132],"their":[26],"teammates,":[27],"and":[28,54,110,159],"static":[29],"obstacles":[30],"during":[31],"deployment,":[32],"challenges":[33],"that":[34,57,139],"compound":[35],"when":[36],"map":[38],"not":[40],"known":[41],"advance.":[43],"This":[44],"paper":[45],"proposes":[46],"multi-robot":[48,74],"sampling-based":[49,135],"motion-planning":[50],"framework":[51,66,102,151],"for":[52],"navigation":[53],"fast":[55],"replanning":[56,99],"emphasizes":[58],"performance":[59,131],"partially-known":[61],"environments.":[62],"To":[63],"make":[64],"work":[67],"efficiently,":[68],"we":[69],"developed":[70],"novel":[72],"two-stage":[73],"adaptive":[75],"technique;":[78],"furthermore,":[79],"an":[80],"occupancy":[81],"grid":[82],"cell-based":[83],"distance":[84,91],"introduced":[86],"represent":[88],"minimum":[90],"should":[94],"cover":[95],"before":[96],"initiating":[97],"process.":[100],"Our":[101],"reaches":[103],"90%":[104],"success-rate":[105],"with":[106,111],"7":[107],"snake-like":[108],"8":[112],"car-like":[113],"all":[116,128],"but":[117],"one":[118],"set":[121],"simulated":[124],"environments,":[125],"exceeding":[126],"cases":[129],"competitive":[134],"planner":[137],"baseline":[138],"struggles":[140],"reach":[142],"25%":[143],"success":[144],"most":[147],"difficult":[148],"cases.":[149],"The":[150],"also":[152],"exhibits":[153],"significant":[154],"improvements":[155],"both":[157],"runtime":[158],"travel":[160],"distances.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}