{"id":"https://openalex.org/W4312878990","doi":"https://doi.org/10.1109/etfa52439.2022.9921589","title":"Randomized multi-goal path planning for Dubins vehicles","display_name":"Randomized multi-goal path planning for Dubins vehicles","publication_year":2022,"publication_date":"2022-09-06","ids":{"openalex":"https://openalex.org/W4312878990","doi":"https://doi.org/10.1109/etfa52439.2022.9921589"},"language":"en","primary_location":{"id":"doi:10.1109/etfa52439.2022.9921589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa52439.2022.9921589","pdf_url":null,"source":{"id":"https://openalex.org/S4363607916","display_name":"2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 27th 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/A5008569668","display_name":"Jaroslav Jano\u0161","orcid":"https://orcid.org/0000-0002-0467-7356"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Jaroslav Janos","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,Czech Republic,166 27"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,Czech Republic,166 27","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045281591","display_name":"Robert P\u011bni\u010dka","orcid":"https://orcid.org/0000-0001-8549-4932"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Robert Penicka","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,Czech Republic,166 27"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,Czech Republic,166 27","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojtech Vonasek","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,Czech Republic,166 27"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,Czech Republic,166 27","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008569668"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.2399,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60081278,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9616000056266785,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11942","display_name":"Transportation and Mobility Innovations","score":0.920199990272522,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8834499716758728},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.6375776529312134},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6292652487754822},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.59698486328125},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5896344184875488},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5568928718566895},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5532137155532837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5434203147888184},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.4736964702606201},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45933499932289124},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4466785490512848},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4327131509780884},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4154539108276367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2897738814353943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21223857998847961},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18482959270477295},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12759092450141907},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10342928767204285},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06663313508033752},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.0644996166229248}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8834499716758728},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.6375776529312134},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6292652487754822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.59698486328125},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5896344184875488},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5568928718566895},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5532137155532837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5434203147888184},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.4736964702606201},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45933499932289124},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4466785490512848},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4327131509780884},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4154539108276367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2897738814353943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21223857998847961},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18482959270477295},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12759092450141907},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10342928767204285},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06663313508033752},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0644996166229248},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa52439.2022.9921589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa52439.2022.9921589","pdf_url":null,"source":{"id":"https://openalex.org/S4363607916","display_name":"2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.800000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W170547082","https://openalex.org/W2136735429","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W2046076203","https://openalex.org/W3184816460","https://openalex.org/W2884240287","https://openalex.org/W2130342775","https://openalex.org/W2103498863"],"abstract_inverted_index":{"In":[0,60],"multi-goal":[1,69,141],"path":[2,58,70,142],"planning,":[3],"the":[4,22,26,36,50,82,104,108,112,133,140],"task":[5],"is":[6,54,137],"to":[7,11,43,152],"find":[8],"a":[9,13,65,127],"sequence":[10],"visit":[12],"set":[14],"of":[15,35,111,132,148],"target":[16],"locations":[17],"in":[18,139],"an":[19,33],"environment":[20],"using":[21,56,100],"shortest":[23],"path.":[24],"Finding":[25],"order":[27],"can":[28,117],"be":[29,119],"achieved":[30],"by":[31,86,121],"solving":[32],"instance":[34],"Traveling":[37],"Salesman":[38],"Problem":[39],"(TSP).":[40],"This":[41],"requires":[42],"determine":[44],"paths":[45],"and":[46,84,115,150],"their":[47],"lengths":[48],"between":[49],"individual":[51],"targets,":[52],"which":[53],"solved":[55],"robotic":[57],"planning.":[59],"this":[61],"paper,":[62],"we":[63],"propose":[64],"randomized":[66],"planner":[67],"for":[68,72,144],"planning":[71,135,143],"non-holonomic":[73],"mobile":[74,113],"robots.":[75],"Multiple":[76],"trees":[77,97],"are":[78,98],"constructed":[79],"simultaneously":[80],"from":[81],"targets":[83,149],"expanded":[85,99],"collision-free":[87],"configurations":[88],"until":[89],"they":[90,116],"touch":[91],"each":[92],"other":[93],"or":[94],"obstacles.":[95],"The":[96,130],"Dubins":[101],"maneuvers.":[102],"Therefore,":[103],"resulting":[105],"trajectories":[106],"satisfy":[107],"kinematic":[109],"constraints":[110],"robots":[114],"also":[118],"used":[120],"Unmanned":[122],"Aerial":[123],"Vehicles":[124],"flying":[125],"at":[126],"constant":[128],"altitude.":[129],"efficiency":[131],"proposed":[134],"approach":[136],"demonstrated":[138],"environments":[145],"with":[146],"tens":[147],"compared":[151],"state-of-the-art":[153],"approaches.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}