{"id":"https://openalex.org/W3025486379","doi":"https://doi.org/10.1109/icra40945.2020.9196555","title":"Distance and Steering Heuristics for Streamline-Based Flow Field Planning","display_name":"Distance and Steering Heuristics for Streamline-Based Flow Field Planning","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3025486379","doi":"https://doi.org/10.1109/icra40945.2020.9196555","mag":"3025486379"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196555","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2005.06718","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"K. Y. Cadmus To","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"K. Y. Cadmus To","raw_affiliation_strings":["University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chanyeol Yoo","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chanyeol Yoo","raw_affiliation_strings":["University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stuart Anstee","orcid":null},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"government","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stuart Anstee","raw_affiliation_strings":["Department of Defence, Defence Science and Technology Group, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Defence, Defence Science and Technology Group, Australia","institution_ids":["https://openalex.org/I1303474014"]}]},{"author_position":"last","author":{"id":null,"display_name":"Robert Fitch","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Fitch","raw_affiliation_strings":["University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0854,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.29300101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1867","last_page":"1873"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/heuristics","display_name":"Heuristics","score":0.7551000118255615},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.6000999808311462},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5669999718666077},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5327000021934509},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44929999113082886},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.41449999809265137},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.39480000734329224}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.7551000118255615},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.6000999808311462},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5669999718666077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5559999942779541},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5327000021934509},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46639999747276306},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44929999113082886},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41449999809265137},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.3919000029563904},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3587999939918518},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2955000102519989},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27950000762939453},{"id":"https://openalex.org/C1633027","wikidata":"https://www.wikidata.org/wiki/Q815820","display_name":"Computational fluid dynamics","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27090001106262207},{"id":"https://openalex.org/C207512268","wikidata":"https://www.wikidata.org/wiki/Q3074551","display_name":"Traffic flow (computer networking)","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2696000039577484},{"id":"https://openalex.org/C90278072","wikidata":"https://www.wikidata.org/wiki/Q216320","display_name":"Fluid dynamics","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2531000077724457}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196555","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2005.06718","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.06718","pdf_url":"https://arxiv.org/pdf/2005.06718","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2005.06718","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.06718","pdf_url":"https://arxiv.org/pdf/2005.06718","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1964478285","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1986920721","https://openalex.org/W2000359213","https://openalex.org/W2004270895","https://openalex.org/W2017001763","https://openalex.org/W2049561732","https://openalex.org/W2071099748","https://openalex.org/W2097868028","https://openalex.org/W2100986500","https://openalex.org/W2124455817","https://openalex.org/W2125974405","https://openalex.org/W2134066908","https://openalex.org/W2138181196","https://openalex.org/W2151135734","https://openalex.org/W2165558283","https://openalex.org/W2171058644","https://openalex.org/W2267184893","https://openalex.org/W2416852083","https://openalex.org/W2427881153","https://openalex.org/W2764229566","https://openalex.org/W2801907389","https://openalex.org/W2901058014","https://openalex.org/W2911474998","https://openalex.org/W2949117375","https://openalex.org/W2967042539","https://openalex.org/W3003677009","https://openalex.org/W4236470048","https://openalex.org/W4300580367","https://openalex.org/W6700681339","https://openalex.org/W6750249379","https://openalex.org/W6760242795","https://openalex.org/W6767053357","https://openalex.org/W6784238604","https://openalex.org/W6786240844"],"related_works":[],"abstract_inverted_index":{"Motion":[0],"planning":[1],"for":[2,109,173],"vehicles":[3],"under":[4],"the":[5,13,38,79,92,95,125,143,146,157],"influence":[6],"of":[7,15,36,78,91,94,145],"flow":[8,85,97,134],"fields":[9],"can":[10],"benefit":[11],"from":[12,21],"idea":[14],"streamline-based":[16],"planning,":[17],"which":[18],"exploits":[19],"ideas":[20,118],"fluid":[22],"dynamics":[23],"to":[24,29,53,163],"achieve":[25,54],"computational":[26,159],"efficiency.":[27],"Important":[28],"such":[30,59],"planners":[31],"is":[32,51],"an":[33,89,132],"efficient":[34],"means":[35],"computing":[37],"travel":[39],"distance":[40,67,75],"and":[41,87,136,153,161,170],"direction":[42],"between":[43,98,151],"two":[44,65,99],"points":[45],"in":[46,55,69,131,137,142],"free":[47],"space,":[48],"but":[49],"this":[50],"difficult":[52],"strong":[56],"incompressible":[57],"flows":[58],"as":[60],"ocean":[61,139],"currents.":[62],"We":[63,115],"propose":[64,103],"useful":[66,108],"functions":[68],"analytical":[70],"form":[71],"that":[72,106],"combine":[73],"Euclidean":[74],"with":[76,83,88,122,128,176],"values":[77],"stream":[80],"function":[81],"associated":[82],"a":[84,112],"field,":[86],"estimation":[90],"strength":[93],"opposing":[96],"points.":[100],"Further,":[101],"we":[102],"steering":[104,110],"heuristics":[105],"are":[107],"towards":[111],"sampled":[113],"point.":[114],"evaluate":[116],"these":[117],"by":[119],"integrating":[120],"them":[121],"RRT*and":[123],"comparing":[124],"algorithm's":[126],"performance":[127],"state-of-the-art":[129,168],"methods":[130],"artificial":[133],"field":[135],"actual":[138],"prediction":[140],"data":[141],"region":[144],"dominant":[147],"East":[148],"Australian":[149],"Current":[150],"Sydney":[152],"Brisbane.":[154],"Results":[155],"demonstrate":[156],"method's":[158],"efficiency":[160],"ability":[162],"find":[164],"high-quality":[165],"paths":[166],"outperforming":[167],"methods,":[169],"show":[171],"promise":[172],"practical":[174],"use":[175],"autonomous":[177],"marine":[178],"robots.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2020-05-21T00:00:00"}