{"id":"https://openalex.org/W4416381283","doi":"https://doi.org/10.1109/access.2025.3631081","title":"Agoraphilic-3D: A Novel Algorithm for Robot Path Planning in Mapless Uneven Terrains","display_name":"Agoraphilic-3D: A Novel Algorithm for Robot Path Planning in Mapless Uneven Terrains","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416381283","doi":"https://doi.org/10.1109/access.2025.3631081"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3631081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3631081","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.2025.3631081","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058442193","display_name":"W. M. D. R. Gunathilaka","orcid":"https://orcid.org/0009-0004-5690-1358"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"W. M. Dinusha Gunathilaka","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia"],"raw_orcid":"https://orcid.org/0009-0004-5690-1358","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038632124","display_name":"Gayan Kahandawa","orcid":"https://orcid.org/0000-0003-4926-1239"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gayan Kahandawa","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4926-1239","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091316717","display_name":"M. Yousef Ibrahim","orcid":"https://orcid.org/0000-0002-9859-6505"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"M. Yousef Ibrahim","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia"],"raw_orcid":"https://orcid.org/0000-0002-9859-6505","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026183683","display_name":"H. S. Hewawasam","orcid":"https://orcid.org/0000-0002-9181-7416"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hasitha Sanjeewa Hewawasam","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051920398","display_name":"Linh Nguyen","orcid":"https://orcid.org/0000-0001-5360-886X"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Linh Nguyen","raw_affiliation_strings":["Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5360-886X","affiliations":[{"raw_affiliation_string":"Institute of Innovation, Science and Sustainability, Federation University Australia, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149672521"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8823,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80127163,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"193802","last_page":"193819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.864300012588501,"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":0.864300012588501,"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":0.03310000151395798,"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":0.020400000736117363,"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/terrain","display_name":"Terrain","score":0.8536999821662903},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.753000020980835},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6753000020980835},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6463000178337097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6309000253677368},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4505000114440918},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.4027000069618225},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.3950999975204468}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8536999821662903},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.753000020980835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6837000250816345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6753000020980835},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6463000178337097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6309000253677368},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.580299973487854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4900999963283539},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4505000114440918},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.4027000069618225},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.3950999975204468},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.3905999958515167},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.38350000977516174},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.3799000084400177},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37599998712539673},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.352400004863739},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.349700003862381},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.32919999957084656},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2964000105857849},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.26980000734329224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.26820001006126404},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.25679999589920044}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3631081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3631081","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:doaj.org/article:8e225b4c6d594a08b3ee620dc3d8e681","is_oa":true,"landing_page_url":"https://doaj.org/article/8e225b4c6d594a08b3ee620dc3d8e681","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 13, Pp 193802-193819 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3631081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3631081","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"ground":[1,235],"robot":[2,25],"navigation":[3,46,59,71,169,236],"in":[4,189,208,237],"unstructured,":[5],"mapless,":[6],"and":[7,20,99,147,150,192,215,230,244,246],"uneven":[8,44],"terrains":[9],"remains":[10],"a":[11,36,80,85,153,176,228],"challenging":[12,238],"task":[13],"due":[14],"to":[15,23,72,111,136,167],"variable":[16],"slopes,":[17],"environmental":[18],"occlusions,":[19],"the":[21,55,62,123,127,130,137,171,182,185,197,200],"need":[22],"preserve":[24],"stability.":[26],"To":[27],"address":[28],"these":[29],"challenges,":[30],"this":[31,160],"paper":[32],"presents":[33],"Agoraphilic-3D":[34],"(A3D),":[35],"novel":[37],"path":[38],"planning":[39],"algorithm":[40,78],"designed":[41],"for":[42,118,233],"real-world,":[43],"terrain":[45,97,119,131,210],"with":[47,126],"explicit":[48],"consideration":[49],"of":[50,61,89,199],"stability":[51,139],"constraints.":[52],"A3D":[53,201,226],"extends":[54],"free":[56,100,155],"space":[57,101,156],"based":[58],"concept":[60],"original":[63],"Agoraphilic":[64],"algorithm,":[65],"advancing":[66],"it":[67],"from":[68],"2D":[69],"environment":[70,74],"3D":[73,90],"navigation.":[75],"The":[76,203],"proposed":[77],"introduces":[79],"Square":[81],"Sector":[82],"Map":[83],"(SS-Map),":[84],"robot-centric":[86],"grid":[87],"representation":[88],"point":[91],"cloud":[92],"data,":[93,129],"which":[94],"enables":[95],"efficient":[96],"analysis":[98],"determination.":[102],"An":[103],"unsupervised":[104],"clustering-based":[105],"occlusion":[106],"filtering":[107,212],"method":[108],"is":[109,133],"incorporated":[110],"remove":[112],"ambiguous":[113],"regions,":[114,174,214],"producing":[115],"cleaner":[116],"data":[117],"feature":[120],"extraction.":[121],"Using":[122],"SS-Map":[124],"together":[125],"filtered":[128],"slope":[132],"assessed":[134],"relative":[135],"robot\u2019s":[138],"constraints,":[140],"defined":[141],"by":[142],"its":[143,206],"maximum":[144],"allowable":[145],"pitch":[146],"roll":[148],"angles,":[149],"encoded":[151],"into":[152],"1D":[154],"histogram.":[157],"Based":[158],"on":[159,222],"representation,":[161],"free-space":[162],"attractive":[163],"forces":[164],"are":[165],"derived":[166],"guide":[168],"through":[170],"most":[172],"stable":[173],"while":[175],"steering":[177],"factor":[178],"mechanism":[179],"simultaneously":[180],"biases":[181],"trajectory":[183],"toward":[184],"goal.":[186],"Extensive":[187],"experiments":[188],"both":[190],"simulation":[191],"real-world":[193],"outdoor":[194],"environments":[195],"demonstrate":[196],"effectiveness":[198],"algorithm.":[202],"results":[204],"highlight":[205],"robustness":[207],"identifying":[209],"variations,":[211],"unstable":[213],"generating":[216],"safe,":[217],"traversable":[218],"paths":[219],"without":[220],"reliance":[221],"prior":[223],"maps.":[224],"Overall,":[225],"provides":[227],"practical":[229],"adaptable":[231],"framework":[232],"autonomous":[234],"domains":[239],"such":[240],"as":[241],"exploration,":[242],"agriculture,":[243],"search":[245],"rescue.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-11-10T00:00:00"}