{"id":"https://openalex.org/W2805909077","doi":"https://doi.org/10.1109/icarsc.2018.8374183","title":"Goal-biased probabilistic foam method for robot path planning","display_name":"Goal-biased probabilistic foam method for robot path planning","publication_year":2018,"publication_date":"2018-04-01","ids":{"openalex":"https://openalex.org/W2805909077","doi":"https://doi.org/10.1109/icarsc.2018.8374183","mag":"2805909077"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2018.8374183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2018.8374183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5028249309","display_name":"Lu\u00eds B. P. Nascimento","orcid":"https://orcid.org/0000-0002-1699-4535"},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Luis B. P. Nascimento","raw_affiliation_strings":["Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil"],"affiliations":[{"raw_affiliation_string":"Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004145629","display_name":"Diego S. Pereira","orcid":"https://orcid.org/0000-0001-6658-1854"},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Diego S. Pereira","raw_affiliation_strings":["Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil"],"affiliations":[{"raw_affiliation_string":"Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033819355","display_name":"Pablo Javier Alsina","orcid":"https://orcid.org/0000-0002-2882-5237"},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Pablo J. Alsina","raw_affiliation_strings":["Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil"],"affiliations":[{"raw_affiliation_string":"Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068416493","display_name":"Maur\u00edcio R. Silva","orcid":"https://orcid.org/0000-0002-7453-4051"},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mauricio R. Silva","raw_affiliation_strings":["Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil"],"affiliations":[{"raw_affiliation_string":"Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000725453","display_name":"Daniel H. S. Fernandes","orcid":null},"institutions":[{"id":"https://openalex.org/I35046152","display_name":"Universidade Federal do Rio Grande do Norte","ror":"https://ror.org/04wn09761","country_code":"BR","type":"education","lineage":["https://openalex.org/I35046152"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel H. S. Fernandes","raw_affiliation_strings":["Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil"],"affiliations":[{"raw_affiliation_string":"Departament of Computing Engineering and Automation, Federal University of Rio Grande do Norte (UFRN), Natal, RN, Brazil","institution_ids":["https://openalex.org/I35046152"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001500878","display_name":"V\u00e1lber C\u00e9sar Cavalcanti Roza","orcid":"https://orcid.org/0000-0002-6639-2401"},"institutions":[{"id":"https://openalex.org/I110026055","display_name":"Iscte \u2013 Instituto Universit\u00e1rio de Lisboa","ror":"https://ror.org/014837179","country_code":"PT","type":"education","lineage":["https://openalex.org/I110026055"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Valber C. C. Roza","raw_affiliation_strings":["Department of Information Science and Technology, Instituto Universit\u00e1rio de Lisboa (ISCTE-IUL), Lisboa, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Information Science and Technology, Instituto Universit\u00e1rio de Lisboa (ISCTE-IUL), Lisboa, Portugal","institution_ids":["https://openalex.org/I110026055"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051234296","display_name":"Armando S. Sanca","orcid":"https://orcid.org/0000-0003-1579-0570"},"institutions":[{"id":"https://openalex.org/I21606457","display_name":"Universidade Estadual de Feira de Santana","ror":"https://ror.org/04ygk5j35","country_code":"BR","type":"education","lineage":["https://openalex.org/I21606457"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Armando S. Sanca","raw_affiliation_strings":["Department of Technology, State University of Feira de Santana, Feira de Santana, Bahia, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Technology, State University of Feira de Santana, Feira de Santana, Bahia, Brazil","institution_ids":["https://openalex.org/I21606457"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5028249309"],"corresponding_institution_ids":["https://openalex.org/I35046152"],"apc_list":null,"apc_paid":null,"fwci":0.6267,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73561749,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"199","last_page":"204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.993399977684021,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7532192468643188},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.732174277305603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6533116102218628},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.618537187576294},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5939809679985046},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49148857593536377},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.43648481369018555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32639873027801514},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09202998876571655}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7532192468643188},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.732174277305603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6533116102218628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.618537187576294},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5939809679985046},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49148857593536377},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.43648481369018555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32639873027801514},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09202998876571655}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc.2018.8374183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2018.8374183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W131069610","https://openalex.org/W1524128635","https://openalex.org/W2128732205","https://openalex.org/W2128990851","https://openalex.org/W2143826757","https://openalex.org/W2152536965","https://openalex.org/W2325423652","https://openalex.org/W2338205278","https://openalex.org/W2563674138","https://openalex.org/W2566079178","https://openalex.org/W3104753760","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2389713625","https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2152311680","https://openalex.org/W4321065611","https://openalex.org/W2065499315","https://openalex.org/W1539483014","https://openalex.org/W2137520303","https://openalex.org/W2100656238","https://openalex.org/W2097965677"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"improved":[4],"variation":[5],"of":[6],"Probabilistic":[7],"Foam":[8],"Method":[9],"(PFM)":[10],"for":[11],"robot":[12],"path":[13],"planning.":[14],"In":[15],"PFM,":[16],"a":[17,36,40,50,59],"structure":[18],"named":[19],"probabilistic":[20],"foam,":[21],"formed":[22],"by":[23],"bubbles":[24],"propagate":[25],"through":[26],"the":[27,44,83],"free":[28],"space":[29],"from":[30,69,72],"initial":[31],"configuration":[32],"to":[33,48],"goal":[34],"as":[35],"breadth-first":[37],"search,":[38],"obtaining":[39],"collision-free":[41],"path.":[42],"Although":[43],"method":[45],"is":[46,54],"able":[47],"obtain":[49],"navigable":[51],"path,":[52],"it":[53],"computationally":[55],"expensive.":[56],"We":[57],"propose":[58],"new":[60,84],"foam":[61],"propagation":[62],"approach":[63],"inspired":[64],"on":[65],"random":[66],"tree":[67],"growth":[68],"RRT.":[70],"Results":[71],"simulation":[73],"experiments":[74],"using":[75],"2D":[76],"and":[77],"3D":[78],"map":[79],"show":[80],"benefits":[81],"with":[82],"method.":[85]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}