{"id":"https://openalex.org/W2169422916","doi":"https://doi.org/10.1109/iros.2008.4651035","title":"Occlusion-free path planning with a probabilistic roadmap","display_name":"Occlusion-free path planning with a probabilistic roadmap","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2169422916","doi":"https://doi.org/10.1109/iros.2008.4651035","mag":"2169422916"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5074596082","display_name":"Matthew Baumann","orcid":"https://orcid.org/0000-0001-8240-6757"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M.A. Baumann","raw_affiliation_strings":["Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047909016","display_name":"D. Dupuis","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D.C. Dupuis","raw_affiliation_strings":["Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080451681","display_name":"Simon L\u00e9onard","orcid":"https://orcid.org/0000-0001-6429-4755"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Leonard","raw_affiliation_strings":["Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035882135","display_name":"Elizabeth A. Croft","orcid":"https://orcid.org/0000-0002-9639-5291"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"E.A. Croft","raw_affiliation_strings":["Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"Institutefor ComputingInformation, University of British Columbia, Vancouver, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102754179","display_name":"James J. Little","orcid":"https://orcid.org/0000-0002-4411-2544"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J.J. Little","raw_affiliation_strings":["Computer Science Department, University of British Columbia, Vancouver, BC, Canada"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5074596082"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":1.7559,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.87137697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2151","last_page":"2156"},"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.8380783796310425},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.7715835571289062},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7275198698043823},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6874115467071533},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6716142296791077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6497567892074585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.641166090965271},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6085624694824219},{"id":"https://openalex.org/keywords/line-of-sight","display_name":"Line-of-sight","score":0.5112371444702148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48186978697776794},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4182285964488983},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19877952337265015},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1078748106956482},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10478192567825317},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07469183206558228}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8380783796310425},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.7715835571289062},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7275198698043823},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6874115467071533},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6716142296791077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6497567892074585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.641166090965271},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6085624694824219},{"id":"https://openalex.org/C2780928442","wikidata":"https://www.wikidata.org/wiki/Q6553027","display_name":"Line-of-sight","level":2,"score":0.5112371444702148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48186978697776794},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4182285964488983},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19877952337265015},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1078748106956482},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10478192567825317},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07469183206558228},{"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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4651035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W72613748","https://openalex.org/W2035776024","https://openalex.org/W2090182706","https://openalex.org/W2104691494","https://openalex.org/W2120650294","https://openalex.org/W2125041002","https://openalex.org/W2128990851","https://openalex.org/W2136192974","https://openalex.org/W2143170311","https://openalex.org/W2152595196","https://openalex.org/W2154343844","https://openalex.org/W2560873364","https://openalex.org/W2946046356","https://openalex.org/W3145128584","https://openalex.org/W6678080898"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2134348961","https://openalex.org/W4308217561","https://openalex.org/W2115192598","https://openalex.org/W2160419405"],"abstract_inverted_index":{"We":[0,24,63],"present":[1],"a":[2,12,28,102],"novel":[3],"algorithm":[4],"for":[5,15],"path":[6,104,108],"planning":[7],"that":[8,42],"avoids":[9],"occlusions":[10],"of":[11,89,113],"visual":[13],"target":[14,59],"an":[16,20],"ldquoeye-in-handrdquo":[17],"sensor":[18],"on":[19],"articulated":[21],"robot":[22,36],"arm.":[23],"compute":[25,87],"paths":[26,88],"using":[27],"probabilistic":[29],"roadmap":[30,70],"to":[31,57,66,72,105],"avoid":[32],"collisions":[33],"between":[34],"the":[35,50,58,69,73,75,80,95,106,111,114],"and":[37,109],"obstacles,":[38],"while":[39,78],"penalizing":[40],"trajectories":[41,67],"do":[43],"not":[44],"maintain":[45],"line-of-sight.":[46],"The":[47],"system":[48],"determines":[49],"space":[51],"from":[52],"which":[53],"line-of-sight":[54],"is":[55],"unimpeded":[56],"(the":[60],"visible":[61,81],"region).":[62],"assign":[64],"penalties":[65],"within":[68],"proportional":[71],"distance":[74],"camera":[76],"travels":[77],"outside":[79],"region.":[82],"Using":[83],"Dijkstrapsilas":[84],"algorithm,":[85],"we":[86,100],"minimal":[90],"occlusion":[91],"(maximal":[92],"visibility)":[93],"through":[94],"roadmap.":[96],"In":[97],"our":[98],"experiments,":[99],"compare":[101],"shortest-distance":[103],"minimal-occlusion":[107],"discuss":[110],"impact":[112],"improved":[115],"visibility.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}