{"id":"https://openalex.org/W1637113018","doi":"https://doi.org/10.1109/indin.2015.7281769","title":"Rapid replanning of energy-efficient paths for navigation on uneven terrains","display_name":"Rapid replanning of energy-efficient paths for navigation on uneven terrains","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1637113018","doi":"https://doi.org/10.1109/indin.2015.7281769","mag":"1637113018"},"language":"en","primary_location":{"id":"doi:10.1109/indin.2015.7281769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin.2015.7281769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 13th International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/53656/3/Ganganath_Rapid_Replanning_Energy.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047360922","display_name":"Nuwan Ganganath","orcid":"https://orcid.org/0000-0002-7381-9493"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Nuwan Ganganath","raw_affiliation_strings":["Department of Electronic and Information Engineering, Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong","Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Information Engineering, Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong,","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049007224","display_name":"Chi\u2010Tsun Cheng","orcid":"https://orcid.org/0000-0003-3306-6148"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chi-Tsun Cheng","raw_affiliation_strings":["Department of Electronic and Information Engineering, Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong","Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Information Engineering, Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong,","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021923917","display_name":"Chi K. Tse","orcid":"https://orcid.org/0000-0002-0462-3999"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chi K. Tse","raw_affiliation_strings":["Department of Electronic and Information Engineering, Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong","Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Information Engineering, Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Electronic and Information Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong,","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":null,"first_page":"408","last_page":"413"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9865000247955322,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9793000221252441,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8798076510429382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7396254539489746},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.695834219455719},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6144220232963562},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5981656908988953},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5774539113044739},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5002107620239258},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45355871319770813},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.4392314553260803},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.41555094718933105},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3906388282775879},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.328784704208374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29495757818222046},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11126035451889038},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09364983439445496},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07002833485603333}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8798076510429382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7396254539489746},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.695834219455719},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6144220232963562},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5981656908988953},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5774539113044739},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5002107620239258},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45355871319770813},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.4392314553260803},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.41555094718933105},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3906388282775879},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.328784704208374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29495757818222046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11126035451889038},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09364983439445496},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07002833485603333},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/indin.2015.7281769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin.2015.7281769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 13th International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/53656","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/53656","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/53656/3/Ganganath_Rapid_Replanning_Energy.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/53656","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/53656","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/53656/3/Ganganath_Rapid_Replanning_Energy.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":"Conference Paper"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W1637113018.pdf"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1480698831","https://openalex.org/W1969101827","https://openalex.org/W1969483458","https://openalex.org/W1970805560","https://openalex.org/W2033137063","https://openalex.org/W2040483961","https://openalex.org/W2050710547","https://openalex.org/W2054805303","https://openalex.org/W2109032771","https://openalex.org/W2113256452","https://openalex.org/W2124058244","https://openalex.org/W2130187425","https://openalex.org/W2148014896","https://openalex.org/W2548903497","https://openalex.org/W4251624293"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"are":[2],"often":[3],"utilized":[4],"in":[5,31,137],"remote":[6],"and":[7,13],"hostile":[8],"outdoor":[9],"environments":[10],"with":[11,62,144],"uncertainties":[12],"unknown":[14,145],"dangerous.":[15],"The":[16],"energy-efficient":[17,45,73,117],"paths":[18,46,105,118],"generated":[19],"based":[20],"on":[21,47,141],"prior":[22],"information":[23],"can":[24,51,76,102,114,133],"be":[25,134],"impracticable":[26],"due":[27],"to":[28,92],"the":[29,32,53,111,130],"changes":[30,84],"environment.":[33],"Recently":[34],"proposed":[35,112,131],"Z*":[36,69,120],"search":[37],"algorithm":[38,100,113,132],"is":[39],"capable":[40],"of":[41,88],"finding":[42],"physically":[43],"feasible":[44],"uneven":[48,142],"terrains.":[49],"It":[50],"achieve":[52],"same":[54],"accuracy":[55],"as":[56,86,119],"any":[57,71],"brute":[58],"force":[59],"algorithm,":[60],"but":[61,122],"a":[63,98,124],"low":[64],"computational":[65,127],"complexity.":[66],"However,":[67],"neither":[68],"nor":[70],"other":[72],"path":[74,79],"planners":[75],"effectively":[77],"handle":[78],"replanning":[80],"triggered":[81],"by":[82],"environment":[83],"such":[85],"emergence":[87],"obstacles.":[89,146],"In":[90],"order":[91],"fill":[93],"this":[94],"void,":[95],"we":[96],"propose":[97],"novel":[99],"which":[101],"recompute":[103],"optimal":[104],"efficiently.":[106],"Simulation":[107],"results":[108],"show":[109],"that":[110],"find":[115],"equally":[116],"does,":[121],"at":[123],"considerably":[125],"lower":[126],"cost.":[128],"Therefore,":[129],"very":[135],"useful":[136],"mobile":[138],"robot":[139],"navigation":[140],"terrains":[143]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}