{"id":"https://openalex.org/W4390482221","doi":"https://doi.org/10.1109/cis-ram55796.2023.10370757","title":"ReachNet : Reachability maps in the presence of obstacles","display_name":"ReachNet : Reachability maps in the presence of obstacles","publication_year":2023,"publication_date":"2023-06-09","ids":{"openalex":"https://openalex.org/W4390482221","doi":"https://doi.org/10.1109/cis-ram55796.2023.10370757"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram55796.2023.10370757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram55796.2023.10370757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-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/A5057894602","display_name":"Thushara Sandakalum","orcid":"https://orcid.org/0000-0002-2650-4130"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Thushara Sandakalum","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore","Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057894602"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.6141,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70843108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"108","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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":0.9973999857902527,"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/reachability","display_name":"Reachability","score":0.9545927047729492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6770137548446655},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2888461947441101}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9545927047729492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6770137548446655},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2888461947441101}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram55796.2023.10370757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram55796.2023.10370757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6899999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1896435690","https://openalex.org/W1977386686","https://openalex.org/W1983103208","https://openalex.org/W1996123965","https://openalex.org/W2014724424","https://openalex.org/W2030929340","https://openalex.org/W2049410986","https://openalex.org/W2056598662","https://openalex.org/W2096994759","https://openalex.org/W2165745738","https://openalex.org/W2171025682","https://openalex.org/W2294389641","https://openalex.org/W2546825770","https://openalex.org/W2964065782","https://openalex.org/W3112619582","https://openalex.org/W4210613326","https://openalex.org/W6680854185","https://openalex.org/W6740017652","https://openalex.org/W6741247073"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W4321471459","https://openalex.org/W2889071233"],"abstract_inverted_index":{"Calculating":[0],"an":[1,56],"accurate":[2,57],"representation":[3],"of":[4,19,34,46,54,99,114],"a":[5,25],"manipulator\u2019s":[6,26],"capabilities":[7,27],"supports":[8],"motion":[9],"planning":[10],"and":[11,66],"control":[12],"tasks.":[13],"The":[14,44,102],"reachability":[15,38,58,73],"index":[16,39,59,74],"is":[17,40],"one":[18],"the":[20,29,32,37,52,72,77,84,89],"measures":[21],"used":[22,109],"to":[23,50,82,91],"represent":[24],"within":[28],"workspace":[30,115],"but":[31],"impact":[33],"obstacles":[35],"on":[36],"not":[41],"extensively":[42],"explored.":[43],"aim":[45],"this":[47],"manuscript":[48],"was":[49],"evaluate":[51,67],"methods":[53,69],"calculating":[55,71,111],"distribution":[60,75],"amidst":[61],"environment":[62],"obstacles.":[63],"We":[64],"propose":[65],"two":[68],"for":[70,110],"where":[76],"machine":[78],"learning":[79],"approach":[80],"came":[81],"be":[83,92,108],"faster":[85],"method":[86],"which":[87],"allowed":[88],"model":[90,105],"applicable":[93],"in":[94],"real-time":[95],"mobile":[96,100],"base":[97],"placement":[98],"manipulators.":[101],"neural":[103],"network":[104],"may":[106],"also":[107],"other":[112],"distributions":[113],"quality":[116],"measures.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}