{"id":"https://openalex.org/W3090108585","doi":"https://doi.org/10.1109/icra40945.2020.9197238","title":"A New Path Planning Architecture to Consider Motion Uncertainty in Natural Environment","display_name":"A New Path Planning Architecture to Consider Motion Uncertainty in Natural Environment","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090108585","doi":"https://doi.org/10.1109/icra40945.2020.9197238","mag":"3090108585"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197238","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":"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/A5113918376","display_name":"Michihiro Mizuno","orcid":null},"institutions":[{"id":"https://openalex.org/I14396692","display_name":"Tokyo University of Information Sciences","ror":"https://ror.org/044bdx604","country_code":"JP","type":"education","lineage":["https://openalex.org/I14396692"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Michihiro Mizuno","raw_affiliation_strings":["Department of Electrical Engineering and Information Systems, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Systems, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I14396692","https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107726162","display_name":"Takashi Kubota","orcid":null},"institutions":[{"id":"https://openalex.org/I2800865746","display_name":"Japan Aerospace Exploration Agency","ror":"https://ror.org/059yhyy33","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746"]},{"id":"https://openalex.org/I4210136277","display_name":"Institute of Space and Astronautical Science","ror":"https://ror.org/034gcgw60","country_code":"JP","type":"facility","lineage":["https://openalex.org/I2800865746","https://openalex.org/I4210136277"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Kubota","raw_affiliation_strings":["Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Kanagawa, Japan","institution_ids":["https://openalex.org/I2800865746","https://openalex.org/I4210136277"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113918376"],"corresponding_institution_ids":["https://openalex.org/I14396692","https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.4908,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.66531521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"2182","last_page":"2188"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9965999722480774,"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":0.9025565385818481},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7034161686897278},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6668269634246826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6649772524833679},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.608797550201416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5312965512275696},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5210713148117065},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5005443096160889},{"id":"https://openalex.org/keywords/propagation-of-uncertainty","display_name":"Propagation of uncertainty","score":0.4478578567504883},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.41840633749961853},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.414320170879364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3123810887336731},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24633553624153137},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1981470286846161},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15910610556602478}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.9025565385818481},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7034161686897278},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6668269634246826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6649772524833679},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.608797550201416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5312965512275696},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5210713148117065},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5005443096160889},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.4478578567504883},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.41840633749961853},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.414320170879364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3123810887336731},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24633553624153137},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1981470286846161},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15910610556602478},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197238","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W27192263","https://openalex.org/W1497244668","https://openalex.org/W1981030765","https://openalex.org/W2000359213","https://openalex.org/W2002201291","https://openalex.org/W2051483500","https://openalex.org/W2069635875","https://openalex.org/W2078550116","https://openalex.org/W2101496914","https://openalex.org/W2103052138","https://openalex.org/W2106716938","https://openalex.org/W2112677235","https://openalex.org/W2131288186","https://openalex.org/W2139882942","https://openalex.org/W2145432448","https://openalex.org/W2155533714","https://openalex.org/W2206417925","https://openalex.org/W2411063765","https://openalex.org/W2563782724","https://openalex.org/W2738707889","https://openalex.org/W2972926064","https://openalex.org/W2995246345","https://openalex.org/W4214587036","https://openalex.org/W6601111857","https://openalex.org/W6771531024"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W4285089922","https://openalex.org/W2118356379","https://openalex.org/W1985727224"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,61],"new":[4],"path":[5,65],"planning":[6],"algorithm":[7],"to":[8,23,53,110,114],"consider":[9],"motion":[10,89],"uncertainty":[11,26,47,90,105],"for":[12],"wheeled":[13],"robots":[14],"in":[15,28,51,86],"rough":[16],"environments.":[17],"The":[18,78,95],"proposed":[19,82,100],"method":[20,83,101],"uses":[21],"particles":[22],"express":[24],"the":[25,46,56,63,67,81,99,103,108,116],"propagation":[27],"complicated":[29],"environments":[30],"constructed":[31],"with":[32,120],"various":[33],"types":[34],"of":[35,48,69,80],"terrain.":[36],"Also,":[37],"RRT":[38],"(Rapidly-exploring":[39],"Random":[40],"Tree)":[41],"is":[42,84],"expanded":[43],"based":[44,73],"on":[45,74],"each":[49],"node":[50],"order":[52],"prevent":[54],"increasing":[55],"accumulated":[57],"position":[58,104],"uncertainty.":[59],"As":[60],"result,":[62],"generated":[64],"reduces":[66],"times":[68],"path-following":[70],"and":[71,113],"re-planning":[72],"inaccurate":[75],"localization":[76],"information.":[77],"effectiveness":[79],"evaluated":[85],"simulation":[87],"using":[88],"models":[91],"obtained":[92],"by":[93],"experiments.":[94],"results":[96],"show":[97],"that":[98],"decreases":[102],"while":[106],"keeping":[107],"probability":[109],"avoid":[111],"collisions":[112],"reach":[115],"goal":[117],"area":[118],"compared":[119],"conventional":[121],"approaches.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}