{"id":"https://openalex.org/W4383109276","doi":"https://doi.org/10.1109/icra48891.2023.10160281","title":"A fast two-stage approach for multi-goal path planning in a fruit tree","display_name":"A fast two-stage approach for multi-goal path planning in a fruit tree","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109276","doi":"https://doi.org/10.1109/icra48891.2023.10160281"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160281","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://edepot.wur.nl/639587","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066394679","display_name":"Werner Kroneman","orcid":null},"institutions":[{"id":"https://openalex.org/I2800036650","display_name":"Roosevelt Institute for American Studies","ror":"https://ror.org/05ck1h211","country_code":"NL","type":"facility","lineage":["https://openalex.org/I2800036650"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Werner Kroneman","raw_affiliation_strings":["University College Roosevelt,Department of Engineering,Middelburg,The Netherlands","Department of Engineering, University College Roosevelt, Middelburg, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College Roosevelt,Department of Engineering,Middelburg,The Netherlands","institution_ids":["https://openalex.org/I2800036650"]},{"raw_affiliation_string":"Department of Engineering, University College Roosevelt, Middelburg, The Netherlands","institution_ids":["https://openalex.org/I2800036650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086176346","display_name":"Jo\u00e3o Valente","orcid":"https://orcid.org/0000-0002-6241-4124"},"institutions":[{"id":"https://openalex.org/I913481162","display_name":"Wageningen University & Research","ror":"https://ror.org/04qw24q55","country_code":"NL","type":"education","lineage":["https://openalex.org/I913481162"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Valente","raw_affiliation_strings":["Wageningen University,Information Technology Group,Wageningen,The Netherlands","Information Technology Group, Wageningen University, Wageningen, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wageningen University,Information Technology Group,Wageningen,The Netherlands","institution_ids":["https://openalex.org/I913481162"]},{"raw_affiliation_string":"Information Technology Group, Wageningen University, Wageningen, The Netherlands","institution_ids":["https://openalex.org/I913481162"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044860343","display_name":"A. Frank van der Stappen","orcid":"https://orcid.org/0000-0001-7965-2818"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]},{"id":"https://openalex.org/I2800036650","display_name":"Roosevelt Institute for American Studies","ror":"https://ror.org/05ck1h211","country_code":"NL","type":"facility","lineage":["https://openalex.org/I2800036650"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"A. Frank Van Der Stappen","raw_affiliation_strings":["University College Roosevelt,Department of Engineering,Middelburg,The Netherlands","Department of Information and Computing Sciences, Utrecht University, The Netherlands","Department of Engineering, University College Roosevelt, Middelburg, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University College Roosevelt,Department of Engineering,Middelburg,The Netherlands","institution_ids":["https://openalex.org/I2800036650"]},{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, The Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Engineering, University College Roosevelt, Middelburg, The Netherlands","institution_ids":["https://openalex.org/I2800036650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5614,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.67405439,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1586","last_page":"1593"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9918000102043152,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8814544677734375},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.703549861907959},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6767538189888},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6374675035476685},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6126546263694763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49989795684814453},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4786733090877533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36226189136505127},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3420916795730591},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17161336541175842},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1381809115409851}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8814544677734375},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.703549861907959},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767538189888},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6374675035476685},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6126546263694763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49989795684814453},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4786733090877533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36226189136505127},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3420916795730591},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17161336541175842},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1381809115409851},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48891.2023.10160281","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:library.wur.nl:wurpubs/619742","is_oa":true,"landing_page_url":"https://research.wur.nl/en/publications/a-fast-two-stage-approach-for-multi-goal-path-planning-in-a-fruit","pdf_url":"https://edepot.wur.nl/639587","source":{"id":"https://openalex.org/S4210201231","display_name":"Socio-Environmental Systems Modeling","issn_l":"2663-3027","issn":["2663-3027"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISBN: 9798350323658","raw_type":"Article in monograph or in proceedings"},{"id":"pmh:oai:dspace.library.uu.nl:1874/436507","is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/436507","pdf_url":null,"source":{"id":"https://openalex.org/S4306401649","display_name":"Utrecht University Repository (Utrecht University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193662353","host_organization_name":"Utrecht University","host_organization_lineage":["https://openalex.org/I193662353"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Part of book"}],"best_oa_location":{"id":"pmh:oai:library.wur.nl:wurpubs/619742","is_oa":true,"landing_page_url":"https://research.wur.nl/en/publications/a-fast-two-stage-approach-for-multi-goal-path-planning-in-a-fruit","pdf_url":"https://edepot.wur.nl/639587","source":{"id":"https://openalex.org/S4210201231","display_name":"Socio-Environmental Systems Modeling","issn_l":"2663-3027","issn":["2663-3027"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISBN: 9798350323658","raw_type":"Article in monograph or in proceedings"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383109276.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1429007086","https://openalex.org/W1516027685","https://openalex.org/W1757162420","https://openalex.org/W1965440866","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2010692862","https://openalex.org/W2021281857","https://openalex.org/W2110762409","https://openalex.org/W2117226423","https://openalex.org/W2128990851","https://openalex.org/W2141708863","https://openalex.org/W2165142526","https://openalex.org/W2169528473","https://openalex.org/W2915977602","https://openalex.org/W2963816708","https://openalex.org/W2964083861","https://openalex.org/W2981168246","https://openalex.org/W3102121895","https://openalex.org/W3125430184","https://openalex.org/W3146778708","https://openalex.org/W4251391716","https://openalex.org/W6677426919"],"related_works":["https://openalex.org/W2348909947","https://openalex.org/W4292672442","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W2118356379"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,6,43,92,107],"problem":[3,67,93],"of":[4,8,34,45,48,110],"planning":[5,70,97,105],"motion":[7],"a":[9,13,27,46,57,64,69,88,122],"drone":[10],"equipped":[11],"with":[12,17],"robotic":[14,65],"arm,":[15],"tasked":[16],"bringing":[18],"its":[19],"end-effector":[20],"up":[21],"to":[22,30,59,121],"many":[23],"(150+)":[24],"targets":[25],"in":[26,136],"fruit":[28],"tree;":[29],"inspect":[31],"every":[32,61,101],"piece":[33],"fruit,":[35],"for":[36,100],"example.":[37],"The":[38],"task":[39],"is":[40],"complicated":[41],"by":[42,119],"intersection":[44],"version":[47],"Neighborhood":[49],"TSP":[50],"(to":[51],"find":[52],"an":[53],"optimal":[54],"order":[55],"and":[56,63,76,103,139],"pose":[58],"visit":[60],"target),":[62],"motion-planning":[66],"through":[68],"space":[71],"that":[72,79,90,131],"features":[73],"numerous":[74],"cavities":[75],"narrow":[77],"passages":[78],"confuse":[80],"common":[81],"techniques.":[82],"In":[83],"this":[84],"contribution,":[85],"we":[86,115],"present":[87],"framework":[89],"decomposes":[91],"into":[94],"two":[95],"stages:":[96],"approach":[98,112,118,133],"paths":[99],"target,":[102],"quickly":[104],"between":[106],"start":[108],"points":[109],"those":[111],"paths.":[113],"Then,":[114],"compare":[116],"our":[117,132],"simulation":[120],"more":[123],"straightforward":[124],"method":[125],"based":[126],"on":[127],"multiquery":[128],"planning,":[129],"showing":[130],"outperforms":[134],"it":[135],"both":[137],"time":[138],"solution":[140],"cost.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}