{"id":"https://openalex.org/W2061013325","doi":"https://doi.org/10.1109/icce.2013.6486802","title":"A hierarchical path planning of cleaning robot based on grid map","display_name":"A hierarchical path planning of cleaning robot based on grid map","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W2061013325","doi":"https://doi.org/10.1109/icce.2013.6486802","mag":"2061013325"},"language":"en","primary_location":{"id":"doi:10.1109/icce.2013.6486802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce.2013.6486802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Consumer Electronics (ICCE)","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/A5086101752","display_name":"Hyoung-Ki Lee","orcid":"https://orcid.org/0000-0001-7206-2081"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyoung-Ki Lee","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083556186","display_name":"WooYeon Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"WooYeon Jeong","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383387","display_name":"Sujin Lee","orcid":"https://orcid.org/0000-0002-6881-1964"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sujin Lee","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110021678","display_name":"Jonghwa Won","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jonghwa Won","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Samsung Electronics Company Limited, South Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung Adv. Inst. of Technol., Samsung Electron., Yongin, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1051,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81222458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"76","last_page":"77"},"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":0.9958000183105469,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9807999730110168,"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/grid","display_name":"Grid","score":0.8060561418533325},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8046780824661255},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.7940414547920227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.699431300163269},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5935038924217224},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.584356427192688},{"id":"https://openalex.org/keywords/electronic-map","display_name":"Electronic map","score":0.5529881119728088},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.5221945643424988},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5130339860916138},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.50477135181427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44481393694877625},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4417882561683655},{"id":"https://openalex.org/keywords/grid-method-multiplication","display_name":"Grid method multiplication","score":0.4191140830516815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38488394021987915},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3742089867591858},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37076231837272644},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3489592373371124},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.17948588728904724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13054853677749634}],"concepts":[{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.8060561418533325},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8046780824661255},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.7940414547920227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.699431300163269},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5935038924217224},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.584356427192688},{"id":"https://openalex.org/C2984360240","wikidata":"https://www.wikidata.org/wiki/Q4006","display_name":"Electronic map","level":2,"score":0.5529881119728088},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.5221945643424988},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5130339860916138},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.50477135181427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44481393694877625},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4417882561683655},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.4191140830516815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38488394021987915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3742089867591858},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37076231837272644},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3489592373371124},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.17948588728904724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13054853677749634},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icce.2013.6486802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce.2013.6486802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Consumer Electronics (ICCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2090170700","https://openalex.org/W2103913820","https://openalex.org/W2114476723","https://openalex.org/W2115416448","https://openalex.org/W2142971832","https://openalex.org/W2154522324","https://openalex.org/W2162868849","https://openalex.org/W2164674207","https://openalex.org/W3022683862","https://openalex.org/W6683862570","https://openalex.org/W6776694869"],"related_works":["https://openalex.org/W2007857089","https://openalex.org/W4220840932","https://openalex.org/W2403683192","https://openalex.org/W2144119813","https://openalex.org/W3113314392","https://openalex.org/W2016603148","https://openalex.org/W2057530136","https://openalex.org/W4313270149","https://openalex.org/W2125569607","https://openalex.org/W2061013325"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,17,64,84,88],"hierarchical":[4],"path":[5,44],"planning":[6,45],"method":[7,75],"based":[8],"on":[9],"the":[10,36,39,50,56],"grid":[11,19,30,41,52,58],"map.":[12,42,59],"Hierarchy":[13],"is":[14,32,47,76],"composed":[15],"of":[16,38,55],"coarse":[18,29,51],"map":[20,24,31,53],"and":[21],"an":[22],"original":[23,40],"with":[25],"fine":[26,57],"grid.":[27],"The":[28,73],"obtained":[33],"by":[34],"reducing":[35],"resolution":[37],"A*":[43,67],"algorithm":[46,68],"applied":[48],"to":[49,81,83],"instead":[54],"It":[60],"reduces":[61],"memory":[62],"size":[63],"lot":[65],"for":[66,78],"without":[69],"increasing":[70],"computation":[71],"time.":[72],"proposed":[74],"implemented":[77],"cleaning":[79],"robots":[80],"move":[82],"target":[85],"position":[86],"finding":[87],"collision":[89],"free":[90],"path.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}