{"id":"https://openalex.org/W1488808209","doi":"https://doi.org/10.1109/icit.2015.7125590","title":"Towards an orientation enhanced astar algorithm for robotic navigation","display_name":"Towards an orientation enhanced astar algorithm for robotic navigation","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W1488808209","doi":"https://doi.org/10.1109/icit.2015.7125590","mag":"1488808209"},"language":"en","primary_location":{"id":"doi:10.1109/icit.2015.7125590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10198/15452","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035096310","display_name":"Elisabete Fernandes","orcid":"https://orcid.org/0000-0002-9907-7432"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Elisabete Fernandes","raw_affiliation_strings":["INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)"],"affiliations":[{"raw_affiliation_string":"INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022725672","display_name":"Pedro Costa","orcid":"https://orcid.org/0000-0002-0435-8419"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Costa","raw_affiliation_strings":["FEUP - Faculdade de Engenharia da Universidade do Porto","INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)"],"affiliations":[{"raw_affiliation_string":"FEUP - Faculdade de Engenharia da Universidade do Porto","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030211128","display_name":"Jos\u00e9 Lima","orcid":"https://orcid.org/0000-0001-7902-1207"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4210092303","display_name":"Polytechnic Institute of Bragan\u00e7a","ror":"https://ror.org/00prsav78","country_code":"PT","type":"education","lineage":["https://openalex.org/I4210092303"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Lima","raw_affiliation_strings":["Instituto Polit\u00e9cnico de Bragan\u00e7a","INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)"],"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico de Bragan\u00e7a","institution_ids":["https://openalex.org/I4210092303"]},{"raw_affiliation_string":"INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081351095","display_name":"Germano Veiga","orcid":"https://orcid.org/0000-0003-3044-6938"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Germano Veiga","raw_affiliation_strings":["INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)"],"affiliations":[{"raw_affiliation_string":"INESC TEC - Tecnologia e Ci\u00eancia (formely INESC Porto)","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035096310"],"corresponding_institution_ids":["https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":1.1232,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.84009719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3320","last_page":"3325"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7574977278709412},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7457431554794312},{"id":"https://openalex.org/keywords/footprint","display_name":"Footprint","score":0.6869423389434814},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6162430047988892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5987274050712585},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5727776288986206},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5451438426971436},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5297760963439941},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.45504963397979736},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45255768299102783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4050407409667969},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18335705995559692},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08297568559646606}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7574977278709412},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7457431554794312},{"id":"https://openalex.org/C132943942","wikidata":"https://www.wikidata.org/wiki/Q2562511","display_name":"Footprint","level":2,"score":0.6869423389434814},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6162430047988892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5987274050712585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5727776288986206},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5451438426971436},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5297760963439941},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.45504963397979736},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45255768299102783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4050407409667969},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18335705995559692},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08297568559646606},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icit.2015.7125590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:bibliotecadigital.ipb.pt:10198/15452","is_oa":true,"landing_page_url":"http://hdl.handle.net/10198/15452","pdf_url":null,"source":{"id":"https://openalex.org/S4306400634","display_name":"Biblioteca Digital do IPB (Instituto Politecnico De Braganca)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210092303","host_organization_name":"Polytechnic Institute of Bragan\u00e7a","host_organization_lineage":["https://openalex.org/I4210092303"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"pmh:oai:repositorio:123456789/6846","is_oa":false,"landing_page_url":"http://repositorio.inesctec.pt/handle/123456789/6846","pdf_url":null,"source":{"id":"https://openalex.org/S4306402433","display_name":"Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Publication"}],"best_oa_location":{"id":"pmh:oai:bibliotecadigital.ipb.pt:10198/15452","is_oa":true,"landing_page_url":"http://hdl.handle.net/10198/15452","pdf_url":null,"source":{"id":"https://openalex.org/S4306400634","display_name":"Biblioteca Digital do IPB (Instituto Politecnico De Braganca)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210092303","host_organization_name":"Polytechnic Institute of Bragan\u00e7a","host_organization_lineage":["https://openalex.org/I4210092303"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3981126665","display_name":null,"funder_award_id":"Seventh Framework Programme","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G495392292","display_name":null,"funder_award_id":"FEDER","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5399556803","display_name":null,"funder_award_id":"This project has received funding from the Europea","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6207223752","display_name":"CooperAtive Robot for Large Spaces manufacturing","funder_award_id":"606363","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W8369482","https://openalex.org/W1855325913","https://openalex.org/W1975492090","https://openalex.org/W2017696512","https://openalex.org/W2040680062","https://openalex.org/W2087627746","https://openalex.org/W2113029345","https://openalex.org/W2123484984","https://openalex.org/W2136445059","https://openalex.org/W2164608085","https://openalex.org/W2901136733","https://openalex.org/W3013983152","https://openalex.org/W6600356965","https://openalex.org/W6638783962","https://openalex.org/W6756486208","https://openalex.org/W6775299407"],"related_works":["https://openalex.org/W2156868854","https://openalex.org/W4386597929","https://openalex.org/W4244593870","https://openalex.org/W2131454054","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2109445039","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915"],"abstract_inverted_index":{"This":[0,61],"paper":[1],"presents":[2],"an":[3,12,34,121],"algorithm":[4,39,146],"capable":[5],"of":[6,25,36,50,68,107,130],"generating":[7],"smooth,":[8],"feasible":[9],"paths":[10,100],"for":[11,58,77,124],"any-shape":[13],"non-holonomic":[14],"mobile":[15],"robot,":[16],"taking":[17],"into":[18,117],"account":[19],"orientation":[20,49,115],"restrictions,":[21],"with":[22],"the":[23,37,48,51,78,85,96,104,108,114,127,131,136,150],"aim":[24],"navigating":[26],"close":[27,101],"to":[28,90,94,98,102],"obstacles.":[29],"Our":[30],"contribution":[31],"consists":[32],"in":[33,40,160],"extension":[35],"A*":[38],"a":[41,59,161,167],"cell":[42],"decomposition,":[43],"where":[44],"besides":[45],"its":[46],"position,":[47],"platform":[52],"is":[53,62,88,133],"also":[54],"considered":[55],"when":[56,75],"searching":[57,76],"path.":[60],"achieved":[63],"by":[64],"constructing":[65],"16":[66],"layers":[67,74,118],"orientations":[69],"and":[70,119,157],"only":[71],"visiting":[72],"neighbor":[73],"lowest":[79],"cost.":[80],"To":[81],"simplify":[82],"collision":[83],"checking,":[84],"robot's":[86],"footprint":[87,106,123,129],"used":[89],"inflate":[91],"obstacles,":[92,103],"yet,":[93],"allow":[95],"robot":[97,109,132,164],"find":[99],"actual":[105,128],"must":[110],"used.":[111],"By":[112],"discretizing":[113],"space":[116,138],"computing":[120],"oriented":[122],"each":[125],"layer,":[126],"used,":[134],"increasing":[135],"configuration":[137],"without":[139],"becoming":[140],"computationally":[141],"expensive.":[142],"The":[143],"path":[144],"planning":[145],"was":[147,158],"developed":[148],"under":[149],"EU-funded":[151],"project":[152],"CARLoS":[153],"<sup":[154],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[155],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[156],"implemented":[159],"stud":[162],"welding":[163],"simulated":[165],"within":[166],"naval":[168],"industry":[169],"environment,":[170],"validating":[171],"our":[172],"approach.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}