{"id":"https://openalex.org/W1591987192","doi":"https://doi.org/10.1109/icra.2015.7139774","title":"A heuristic approach to finding diverse short paths","display_name":"A heuristic approach to finding diverse short paths","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1591987192","doi":"https://doi.org/10.1109/icra.2015.7139774","mag":"1591987192"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139774","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5061442409","display_name":"Caleb Voss","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Voss","raw_affiliation_strings":["Department of Computer Science at Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science at Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061397940","display_name":"Mark Moll","orcid":"https://orcid.org/0000-0002-0451-2797"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Moll","raw_affiliation_strings":["Department of Computer Science at Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science at Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Department of Computer Science at Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science at Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":1.4812,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.90477558,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4173","last_page":"4179"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9839000105857849,"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"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9800000190734863,"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/heuristic","display_name":"Heuristic","score":0.6829820871353149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6624839305877686},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6383976936340332},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6066563725471497},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6000688672065735},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5746518969535828},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5405577421188354},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5216574668884277},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.48773249983787537},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4838094115257263},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4798957109451294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4149872958660126},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32411903142929077},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24786901473999023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2064971625804901}],"concepts":[{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6829820871353149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6624839305877686},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6383976936340332},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6066563725471497},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6000688672065735},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5746518969535828},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5405577421188354},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5216574668884277},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.48773249983787537},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4838094115257263},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4798957109451294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4149872958660126},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32411903142929077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24786901473999023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2064971625804901},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139774","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.698.4368","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.698.4368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rice.edu/%7Emmoll/publications/voss2015a-heuristic-approach-to-finding-diverse.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W225875858","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1531355326","https://openalex.org/W1647671624","https://openalex.org/W2004100691","https://openalex.org/W2022115960","https://openalex.org/W2035209810","https://openalex.org/W2101033030","https://openalex.org/W2108232656","https://openalex.org/W2111285461","https://openalex.org/W2112224432","https://openalex.org/W2119257015","https://openalex.org/W2122516422","https://openalex.org/W2125523198","https://openalex.org/W2128990851","https://openalex.org/W2154434560","https://openalex.org/W2611243847","https://openalex.org/W6608823554","https://openalex.org/W6631685650","https://openalex.org/W6636915900"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W1580144672","https://openalex.org/W2152623100","https://openalex.org/W2142042635","https://openalex.org/W4214878056","https://openalex.org/W4248634784","https://openalex.org/W2103296973","https://openalex.org/W1988127757","https://openalex.org/W2165832238"],"abstract_inverted_index":{"We":[0,121,139,169],"present":[1],"an":[2,151],"algorithm":[3,58,80,153],"that":[4,62,154],"seeks":[5],"to":[6,67,114,135],"find":[7,75],"a":[8,15,21,23,35,86,111,123,166],"set":[9,24,128,159],"of":[10,20,38,50,54,88,126,145,160,184],"diverse,":[11],"short":[12,77,101],"paths":[13,161],"through":[14],"roadmap":[16,37,164],"graph.":[17],"The":[18],"usefulness":[19],"such":[22],"is":[25,41],"illustrated":[26],"in":[27,175],"robotic":[28],"motion":[29],"planning":[30],"and":[31,130,143],"routing":[32],"applications":[33],"wherein":[34],"precomputed":[36],"the":[39,55,60,71,79,82,92,118,141,156,163],"environment":[40],"partially":[42],"invalidated":[43,69],"by":[44,70],"some":[45],"change,":[46],"for":[47,108],"example,":[48],"relocation":[49],"obstacles":[51],"or":[52,116],"reconfiguration":[53],"robot.":[56],"Our":[57],"employs":[59],"heuristic":[61,147],"nearby":[63],"configurations":[64],"are":[65],"likely":[66],"be":[68,106],"same":[72],"change.":[73],"To":[74],"diverse":[76,180],"paths,":[78],"finds":[81],"shortest":[83,158],"detour":[84],"avoiding":[85],"collection":[87],"balls":[89],"imposed":[90],"on":[91,133,162],"graph":[93],"as":[94,110],"simulated":[95],"obstacles.":[96],"Different":[97],"collections":[98],"yield":[99],"different":[100],"paths.":[102],"Paths":[103],"may":[104],"then":[105],"checked":[107],"validity":[109],"cheap":[112],"alternative":[113],"checking":[115],"reconstructing":[117],"entire":[119],"roadmap.":[120],"describe":[122],"formal":[124],"definition":[125],"path":[127,181],"diversity":[129],"several":[131],"measures":[132],"which":[134],"evaluate":[136],"our":[137,146],"algorithm.":[138],"compare":[140],"speed":[142],"quality":[144],"algorithm's":[148],"results":[149],"against":[150],"exact":[152],"computes":[155],"optimally":[157],"having":[165],"minimum":[167],"diversity.":[168],"show":[170],"that,":[171],"with":[172],"tolerable":[173],"loss":[174],"shortness,":[176],"we":[177],"produce":[178],"equally":[179],"sets":[182],"orders":[183],"magnitude":[185],"more":[186],"quickly.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}