{"id":"https://openalex.org/W2024694195","doi":"https://doi.org/10.1109/icra.2012.6224773","title":"Using state dominance for path planning in dynamic environments with moving obstacles","display_name":"Using state dominance for path planning in dynamic environments with moving obstacles","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2024694195","doi":"https://doi.org/10.1109/icra.2012.6224773","mag":"2024694195"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5029775365","display_name":"Juan Pablo Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-9676-4579"},"institutions":[{"id":"https://openalex.org/I1343953105","display_name":"General Dynamics (United States)","ror":"https://ror.org/05pyq8e17","country_code":"US","type":"company","lineage":["https://openalex.org/I1343953105"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Juan P. Gonzalez","raw_affiliation_strings":["Autonomous Perception Research Lab, General Dynamics Robotics Systems, Pittsburgh, PA, USA","Autonomous Perception Research Lab, General Dynamics Robotic Systems. Pittsburgh, PA 15221 USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Perception Research Lab, General Dynamics Robotics Systems, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343953105"]},{"raw_affiliation_string":"Autonomous Perception Research Lab, General Dynamics Robotic Systems. Pittsburgh, PA 15221 USA","institution_ids":["https://openalex.org/I1343953105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060105538","display_name":"Andrew Dornbush","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I1343953105","display_name":"General Dynamics (United States)","ror":"https://ror.org/05pyq8e17","country_code":"US","type":"company","lineage":["https://openalex.org/I1343953105"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Dornbush","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Autonomous Perception Research Lab, General Dynamics Robotic Systems. Pittsburgh, PA 15221 USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Autonomous Perception Research Lab, General Dynamics Robotic Systems. Pittsburgh, PA 15221 USA","institution_ids":["https://openalex.org/I1343953105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"institutions":[{"id":"https://openalex.org/I1343953105","display_name":"General Dynamics (United States)","ror":"https://ror.org/05pyq8e17","country_code":"US","type":"company","lineage":["https://openalex.org/I1343953105"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxim Likhachev","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Autonomous Perception Research Lab, General Dynamics Robotic Systems. Pittsburgh, PA 15221 USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Autonomous Perception Research Lab, General Dynamics Robotic Systems. Pittsburgh, PA 15221 USA","institution_ids":["https://openalex.org/I1343953105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029775365"],"corresponding_institution_ids":["https://openalex.org/I1343953105"],"apc_list":null,"apc_paid":null,"fwci":1.1108,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.79576472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4009","last_page":"4015"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/dominance","display_name":"Dominance (genetics)","score":0.818623423576355},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6967318654060364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6432675719261169},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6090841889381409},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47668933868408203},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46660611033439636},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.41050493717193604},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3426291048526764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2271583080291748},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21175900101661682},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13336050510406494}],"concepts":[{"id":"https://openalex.org/C151913843","wikidata":"https://www.wikidata.org/wiki/Q3454555","display_name":"Dominance (genetics)","level":3,"score":0.818623423576355},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6967318654060364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6432675719261169},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6090841889381409},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47668933868408203},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46660611033439636},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.41050493717193604},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3426291048526764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2271583080291748},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21175900101661682},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13336050510406494},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.220.305","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.220.305","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-2.cs.cmu.edu/%7Emaxim/files/GSIPP_icra12.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1551146784","https://openalex.org/W1554451661","https://openalex.org/W1968478252","https://openalex.org/W2055811883","https://openalex.org/W2102585663","https://openalex.org/W2111112078","https://openalex.org/W2113029345","https://openalex.org/W2117211893","https://openalex.org/W2154708216","https://openalex.org/W2168424616","https://openalex.org/W2172010775"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Path":[0],"planning":[1],"in":[2,21,38],"dynamic":[3,39,57],"environments":[4,40],"with":[5],"moving":[6],"obstacles":[7],"is":[8],"computationally":[9],"complex":[10],"since":[11],"it":[12],"requires":[13],"modeling":[14],"time":[15],"as":[16],"an":[17],"additional":[18],"dimension.":[19],"While":[20],"other":[22],"domains":[23],"there":[24],"are":[25],"state":[26,51,77],"dominance":[27,52],"relationships":[28,42],"that":[29,63,65],"can":[30],"significantly":[31],"reduce":[32],"the":[33,36],"complexity":[34],"of":[35],"search,":[37],"such":[41],"do":[43],"not":[44],"exist.":[45],"This":[46],"paper":[47],"presents":[48,60],"a":[49,61],"novel":[50],"relationship":[53],"tailored":[54],"specifically":[55],"for":[56],"environments,":[58],"and":[59],"planner":[62],"uses":[64],"property":[66],"to":[67],"plan":[68],"paths":[69],"over":[70],"ten":[71],"times":[72],"faster":[73],"than":[74],"without":[75],"using":[76],"dominance.":[78]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}