{"id":"https://openalex.org/W4404410653","doi":"https://doi.org/10.1109/access.2024.3499364","title":"Passability-Based Local Planner Using Growing Neural Gas for an Autonomous Mobile Robot","display_name":"Passability-Based Local Planner Using Growing Neural Gas for an Autonomous Mobile Robot","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4404410653","doi":"https://doi.org/10.1109/access.2024.3499364"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3499364","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3499364","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://doi.org/10.1109/access.2024.3499364","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025070433","display_name":"Koki Ozasa","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koki Ozasa","raw_affiliation_strings":["Graduate School of Environmental, Life, Natural Science and Technology, Okayama University, Okayama, Japan","Graduate School of Environmental Life Natural Science and Technology, Okayama University, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Environmental, Life, Natural Science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Graduate School of Environmental Life Natural Science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087750601","display_name":"Yuichiro Toda","orcid":"https://orcid.org/0000-0003-4170-2300"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Toda","raw_affiliation_strings":["Graduate School of Environmental, Life, Natural Science and Technology, Okayama University, Okayama, Japan","Graduate School of Environmental Life Natural Science and Technology, Okayama University, Okayama, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4170-2300","affiliations":[{"raw_affiliation_string":"Graduate School of Environmental, Life, Natural Science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Graduate School of Environmental Life Natural Science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yoshimasa Nakamura","orcid":"https://orcid.org/0009-0001-1684-721X"},"institutions":[{"id":"https://openalex.org/I4210160010","display_name":"Tokyo Metropolitan Industrial Technology Research Institute","ror":"https://ror.org/05sa4da38","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210160010"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshimasa Nakamura","raw_affiliation_strings":["Tokyo Metropolitan Industrial Technology Research Institute, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0001-1684-721X","affiliations":[{"raw_affiliation_string":"Tokyo Metropolitan Industrial Technology Research Institute, Tokyo, Japan","institution_ids":["https://openalex.org/I4210160010"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090270298","display_name":"Toshiki MASUDA","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160010","display_name":"Tokyo Metropolitan Industrial Technology Research Institute","ror":"https://ror.org/05sa4da38","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210160010"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiki Masuda","raw_affiliation_strings":["Tokyo Metropolitan Industrial Technology Research Institute, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Metropolitan Industrial Technology Research Institute, Tokyo, Japan","institution_ids":["https://openalex.org/I4210160010"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113104092","display_name":"Hirohide Konishi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157453","display_name":"NSK (Japan)","ror":"https://ror.org/05nm3qe34","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210157453"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirohide Konishi","raw_affiliation_strings":["NSK Ltd., Tokyo, Japan","NSK Ltd, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NSK Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I4210157453"]},{"raw_affiliation_string":"NSK Ltd, Tokyo, Japan","institution_ids":["https://openalex.org/I4210157453"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091376701","display_name":"Takayuki Matsuno","orcid":"https://orcid.org/0000-0003-3372-0912"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Matsuno","raw_affiliation_strings":["Graduate School of Environmental, Life, Natural Science and Technology, Okayama University, Okayama, Japan","Graduate School of Environmental Life Natural Science and Technology, Okayama University, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Environmental, Life, Natural Science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Graduate School of Environmental Life Natural Science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8749,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75766102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"171824","last_page":"171835"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"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":0.995199978351593,"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":0.9772999882698059,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9498000144958496,"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/mobile-robot","display_name":"Mobile robot","score":0.8328766822814941},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.74143385887146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7001659274101257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5401458144187927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4587637782096863},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40681228041648865}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8328766822814941},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.74143385887146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7001659274101257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5401458144187927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4587637782096863},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40681228041648865}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2024.3499364","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3499364","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:EPrintsOUDIR.lib.okayama-u.ac.jp:67738","is_oa":true,"landing_page_url":"https://ousar.lib.okayama-u.ac.jp/67738","pdf_url":"https://ousar.lib.okayama-u.ac.jp/files/public/6/67738/20241204115424159978/fulltext.pdf","source":{"id":"https://openalex.org/S4377196325","display_name":"Okayama University Scientific Achievement Repository (Okayama University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I163770644","host_organization_name":"Okayama University","host_organization_lineage":["https://openalex.org/I163770644"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access","raw_type":"Journal Article"},{"id":"pmh:oai:doaj.org/article:02aeb041c236414cb83285faa2d76bf5","is_oa":true,"landing_page_url":"https://doaj.org/article/02aeb041c236414cb83285faa2d76bf5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 171824-171835 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3499364","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3499364","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1512524908","display_name":null,"funder_award_id":"JP24K20870","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"},{"id":"https://openalex.org/G1909135200","display_name":null,"funder_award_id":"JP24K20870","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G2031037589","display_name":null,"funder_award_id":"JPNP24022188","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"},{"id":"https://openalex.org/G4021648931","display_name":null,"funder_award_id":"24022188","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"},{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W8235949","https://openalex.org/W1972142489","https://openalex.org/W1977103328","https://openalex.org/W2022512855","https://openalex.org/W2027946968","https://openalex.org/W2087945949","https://openalex.org/W2113045410","https://openalex.org/W2299061428","https://openalex.org/W2478091560","https://openalex.org/W2520282189","https://openalex.org/W2921967421","https://openalex.org/W2942346757","https://openalex.org/W2943349557","https://openalex.org/W2964624564","https://openalex.org/W3048085917","https://openalex.org/W3049658424","https://openalex.org/W3113715583","https://openalex.org/W3117945981","https://openalex.org/W3149843767","https://openalex.org/W3150224893","https://openalex.org/W3152850320","https://openalex.org/W3215608580","https://openalex.org/W4210904135","https://openalex.org/W4242249840","https://openalex.org/W4285110901","https://openalex.org/W4285239321","https://openalex.org/W4288064725","https://openalex.org/W4308648570","https://openalex.org/W4312679488","https://openalex.org/W4383503587","https://openalex.org/W4385482952","https://openalex.org/W4391307500","https://openalex.org/W6680294583"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"3D":[0,70],"spatial":[1,71],"perception":[2,34,72],"is":[3,36],"one":[4],"of":[5,96,105,112,131],"the":[6,19,28,33,89,93,97,102,110,113,116,128,137,143,146,150,169,178,181],"most":[7],"important":[8],"abilities":[9],"for":[10,69,84],"autonomous":[11],"mobile":[12],"robots.":[13],"In":[14,43,145],"environments":[15],"with":[16,55],"unknown":[17,64,77],"objects,":[18],"ability":[20],"to":[21,63],"perform":[22],"a":[23,48,67,82,123,174],"local":[24,74,124],"planner,":[25],"which":[26,59],"modifies":[27],"global":[29],"path":[30],"based":[31,50,108],"on":[32,51,109],"results,":[35],"also":[37],"required":[38],"as":[39,66],"an":[40],"indispensable":[41],"capability.":[42],"this":[44],"paper,":[45],"we":[46,80,100,121,148],"propose":[47,81,122],"method":[49,68,83,171],"Growing":[52],"Neural":[53],"Gas":[54],"Different":[56],"Topologies":[57],"(GNG-DT),":[58],"can":[60,172,183],"be":[61],"applied":[62],"data,":[65],"and":[73,133,157,166],"planner":[75,125],"in":[76,163],"environments.":[78],"First,":[79],"extracting":[85],"travelability":[86],"perceptions":[87],"from":[88,115,136],"features":[90],"estimated":[91],"by":[92,142],"topological":[94,103,129],"structure":[95,104,130],"GNG-DT.":[98],"Next,":[99],"learn":[101],"passability":[106,134,159],"information":[107,160],"size":[111],"robot":[114,182],"extracted":[117],"traversability":[118,132,154],"percepts.":[119],"Furthermore,":[120],"that":[126,168,176,180],"uses":[127],"learned":[135],"point":[138],"cloud":[139],"currently":[140],"perceived":[141],"robot.":[144],"experiments,":[147],"compared":[149],"cases":[151],"where":[152,158],"only":[153],"was":[155,161],"used":[156,162],"actual":[164],"environments,":[165],"showed":[167],"proposed":[170],"plan":[173],"route":[175],"determines":[177],"area":[179],"actually":[184],"pass":[185],"through.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}