{"id":"https://openalex.org/W2739429530","doi":"https://doi.org/10.1109/icra.2017.7989733","title":"CWave: High-performance single-source any-angle path planning on a grid","display_name":"CWave: High-performance single-source any-angle path planning on a grid","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739429530","doi":"https://doi.org/10.1109/icra.2017.7989733","mag":"2739429530"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5015371354","display_name":"Dmitry A. Sinyukov","orcid":"https://orcid.org/0000-0002-6786-9486"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry A. Sinyukov","raw_affiliation_strings":["Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taskin Padir","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6190","last_page":"6197"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T12288","display_name":"Optimization and Search Problems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9973999857902527,"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/motion-planning","display_name":"Motion planning","score":0.7820059061050415},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.7252160906791687},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.7111465334892273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.595799446105957},{"id":"https://openalex.org/keywords/widest-path-problem","display_name":"Widest path problem","score":0.5897662043571472},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5707152485847473},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5411571264266968},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5258318185806274},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49419358372688293},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48989027738571167},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4615492820739746},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4486468434333801},{"id":"https://openalex.org/keywords/grid-method-multiplication","display_name":"Grid method multiplication","score":0.4288175106048584},{"id":"https://openalex.org/keywords/lattice-graph","display_name":"Lattice graph","score":0.4240735173225403},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.3267323970794678},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29027819633483887},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2888830304145813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2124781608581543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18916639685630798},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1749545931816101}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7820059061050415},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.7252160906791687},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.7111465334892273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.595799446105957},{"id":"https://openalex.org/C83677490","wikidata":"https://www.wikidata.org/wiki/Q7998708","display_name":"Widest path problem","level":5,"score":0.5897662043571472},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5707152485847473},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5411571264266968},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5258318185806274},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49419358372688293},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48989027738571167},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4615492820739746},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4486468434333801},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.4288175106048584},{"id":"https://openalex.org/C145580432","wikidata":"https://www.wikidata.org/wiki/Q6497118","display_name":"Lattice graph","level":5,"score":0.4240735173225403},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.3267323970794678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29027819633483887},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2888830304145813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2124781608581543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18916639685630798},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1749545931816101},{"id":"https://openalex.org/C22149727","wikidata":"https://www.wikidata.org/wiki/Q7940747","display_name":"Voltage graph","level":4,"score":0.0},{"id":"https://openalex.org/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"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/icra.2017.7989733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1513657552","https://openalex.org/W1756033394","https://openalex.org/W1999244633","https://openalex.org/W2074100404","https://openalex.org/W2089033613","https://openalex.org/W2113256452","https://openalex.org/W2130422193","https://openalex.org/W2152679156","https://openalex.org/W2153580689","https://openalex.org/W2163178194","https://openalex.org/W2171330332","https://openalex.org/W2403099801","https://openalex.org/W2408436805","https://openalex.org/W3103759471","https://openalex.org/W4235486443","https://openalex.org/W6637922572","https://openalex.org/W6713104703","https://openalex.org/W6785756575"],"related_works":["https://openalex.org/W2995673330","https://openalex.org/W2614449343","https://openalex.org/W2758202899","https://openalex.org/W2057530136","https://openalex.org/W2127085302","https://openalex.org/W2277626332","https://openalex.org/W2548289027","https://openalex.org/W2416579588","https://openalex.org/W4310196581","https://openalex.org/W2739429530"],"abstract_inverted_index":{"Path":[0],"planning":[1,27,55,73],"on":[2,22,45,56,93,183,191],"a":[3,6,16,23,29,38,57,71,120],"2D-grid":[4],"is":[5,28,63,111,167,178,194],"well-studied":[7],"problem":[8,31],"in":[9,65],"robotics.":[10],"It":[11,170],"usually":[12],"involves":[13],"searching":[14],"for":[15,51,138,210],"shortest":[17],"path":[18,26,54,72,98],"between":[19],"two":[20],"vertices":[21],"grid.":[24],"Single-source":[25],"modified":[30,157],"which":[32,82,177],"asks":[33],"to":[34,41,90,127,172,196],"find":[35,80],"distances":[36],"from":[37],"given":[39],"point":[40],"all":[42],"other":[43],"points":[44],"the":[46,97,108,117,129,150,189,216,220],"map.":[47],"A":[48,156],"high-performance":[49],"algorithm":[50,74,78,110,190,221],"single-source":[52,211],"any-angle":[53],"grid":[58,118],"that":[59,76,112,201],"we":[60],"named":[61],"CWave":[62,136,160],"proposed":[64],"this":[66],"work.":[67],"\u201cAny-angle\u201d":[68],"attribute":[69],"of":[70,107,159,164,188,202,215,219],"implies":[75],"such":[77],"can":[79,99,148],"paths":[81],"may":[83],"include":[84],"any":[85,174],"angle":[86],"segments,":[87],"as":[88,119,222,224],"opposed":[89],"standard":[91],"A*":[92,208],"an":[94],"8-connected":[95],"graph,":[96],"turn":[100],"with":[101,161],"45\u00b0-increments":[102],"only.":[103],"The":[104,186,213],"key":[105],"idea":[106],"presented":[109],"it":[113],"does":[114],"not":[115],"represent":[116],"graph":[121],"and":[122,143,181,206],"uses":[123],"discrete":[124],"geometric":[125],"primitives":[126],"define":[128],"wave":[130],"front.":[131],"In":[132],"its":[133],"purest":[134],"form,":[135],"requires":[137],"computation":[139],"only":[140],"integer":[141],"arithmetics":[142],"multiplication":[144],"by":[145],"two,":[146],"but":[147],"accumulate":[149],"distance":[151],"error":[152],"at":[153],"turning":[154],"points.":[155],"version":[158],"minimal":[162],"usage":[163],"floating-point":[165],"calculations":[166],"also":[168],"developed.":[169],"allows":[171],"eliminate":[173],"accumulative":[175],"errors":[176],"proven":[179],"mathematically":[180],"experimentally":[182],"several":[184],"maps.":[185],"performance":[187],"three":[192],"maps":[193],"demonstrated":[195],"be":[197],"significantly":[198],"faster":[199],"than":[200],"Theta*,":[203],"Lazy":[204],"Theta*":[205],"Field":[207],"adapted":[209],"planning.":[212],"limitations":[214],"current":[217],"implementations":[218],"well":[223],"potential":[225],"improvements":[226],"are":[227],"discussed.":[228]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
