{"id":"https://openalex.org/W2898974054","doi":"https://doi.org/10.1109/etfa.2018.8502504","title":"Path-planning in Discretized Environments with Optimized Waypoints Computation","display_name":"Path-planning in Discretized Environments with Optimized Waypoints Computation","publication_year":2018,"publication_date":"2018-09-01","ids":{"openalex":"https://openalex.org/W2898974054","doi":"https://doi.org/10.1109/etfa.2018.8502504","mag":"2898974054"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2018.8502504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2018.8502504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5016315612","display_name":"Emanuele Vitolo","orcid":null},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Emanuele Vitolo","raw_affiliation_strings":["Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085504277","display_name":"Cristian Mahulea","orcid":"https://orcid.org/0000-0003-0056-2225"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Cristian Mahulea","raw_affiliation_strings":["Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046534630","display_name":"Marius Kloetzer","orcid":"https://orcid.org/0000-0003-4338-0421"},"institutions":[{"id":"https://openalex.org/I4210108695","display_name":"Gheorghe Asachi Technical University of Ia\u0219i","ror":"https://ror.org/014zxnz40","country_code":"RO","type":"education","lineage":["https://openalex.org/I4210108695"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Marius Kloetzer","raw_affiliation_strings":["Dept. of Automatic Control and Applied Informatics, Technical University of Iasi, Romania"],"affiliations":[{"raw_affiliation_string":"Dept. of Automatic Control and Applied Informatics, Technical University of Iasi, Romania","institution_ids":["https://openalex.org/I4210108695"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016315612"],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":0.2089,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56232308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"51","issue":null,"first_page":"729","last_page":"735"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9936000108718872,"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/motion-planning","display_name":"Motion planning","score":0.7026031613349915},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6483674049377441},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.593471884727478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5588071346282959},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5444657802581787},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.49621254205703735},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.49310705065727234},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46746471524238586},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4628870189189911},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.44391587376594543},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4397830665111542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4378127157688141},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.289457231760025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18129107356071472}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7026031613349915},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6483674049377441},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.593471884727478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5588071346282959},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5444657802581787},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.49621254205703735},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.49310705065727234},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46746471524238586},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4628870189189911},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.44391587376594543},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4397830665111542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4378127157688141},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.289457231760025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18129107356071472},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa.2018.8502504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2018.8502504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W75509891","https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1631530940","https://openalex.org/W1672041297","https://openalex.org/W1771182989","https://openalex.org/W1972530288","https://openalex.org/W1995356523","https://openalex.org/W2007064482","https://openalex.org/W2014428146","https://openalex.org/W2022204379","https://openalex.org/W2035080102","https://openalex.org/W2056864430","https://openalex.org/W2066120278","https://openalex.org/W2071797744","https://openalex.org/W2077578897","https://openalex.org/W2092330486","https://openalex.org/W2097346851","https://openalex.org/W2127203018","https://openalex.org/W2162726844","https://openalex.org/W2313274380","https://openalex.org/W2762698157","https://openalex.org/W2766927510","https://openalex.org/W2768969350","https://openalex.org/W2770250394","https://openalex.org/W3100966471","https://openalex.org/W4242811155","https://openalex.org/W4251391716"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2133947431","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2490196280","https://openalex.org/W3182827720"],"abstract_inverted_index":{"This":[0],"paper":[1,132],"considers":[2],"the":[3,20,25,35,80,84,91,117,123],"path-planning":[4],"problem":[5,28,110,124],"in":[6,59,105,130,138],"discretized":[7],"environments,":[8],"obtained":[9],"for":[10,19],"example":[11],"by":[12,33,70,148],"a":[13,30,38,42,50,60,99,114,143],"cell":[14],"decomposition":[15],"approach.":[16],"The":[17,66,93,127],"specification":[18,40],"mobile":[21],"robot":[22],"can":[23],"be":[24],"classical":[26],"navigation":[27],"(reach":[29],"given":[31],"region":[32],"avoiding":[34],"obstacles)":[36],"or":[37],"high-level":[39],"as":[41],"Boolean":[43],"and/or":[44],"temporal":[45],"logic":[46],"formula.":[47],"We":[48],"propose":[49],"general":[51],"methodology":[52],"to":[53,77,98],"compute":[54],"piecewise":[55],"linear":[56],"trajectories":[57],"consisting":[58],"sequence":[61],"of":[62,87],"intermediate":[63,81],"points":[64,82],"(waypoints).":[65],"waypoints":[67],"are":[68],"computed":[69],"solving":[71],"optimization":[72,109],"problems":[73],"whose":[74],"solutions":[75],"permit":[76],"optimally":[78],"select":[79],"on":[83],"common":[85],"facets":[86],"traversed":[88],"cells":[89],"from":[90],"decomposition.":[92],"proposed":[94],"solution":[95],"is":[96,111,120,125],"similar":[97],"Model":[100],"Predictive":[101],"Control":[102],"(MPC)":[103],"strategy,":[104],"each":[106],"step":[107],"an":[108],"solved":[112],"over":[113],"finite":[115],"horizon,":[116],"first":[118],"action":[119],"considered":[121],"and":[122,136],"iterated.":[126],"method":[128],"developed":[129],"this":[131],"has":[133],"been":[134],"implemented":[135],"integrated":[137],"Robot":[139],"Motion":[140],"Toolbox":[141],"allowing":[142],"comparison":[144],"with":[145],"other":[146],"methods":[147],"simulation.":[149]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}