{"id":"https://openalex.org/W2153574945","doi":"https://doi.org/10.1109/iros.2009.5354829","title":"Mobile robot path planning with \u03b73-splines using spatial-fitness-sharing variable-length genetic algorithm","display_name":"Mobile robot path planning with \u03b73-splines using spatial-fitness-sharing variable-length genetic algorithm","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2153574945","doi":"https://doi.org/10.1109/iros.2009.5354829","mag":"2153574945"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5063905939","display_name":"Jiun-Hau Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jiun-Hau Wei","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Taipei, Taiwan","institution_ids":["https://openalex.org/I4210098366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034523100","display_name":"Jing\u2010Sin Liu","orcid":"https://orcid.org/0000-0002-4935-8965"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jing-Sin Liu","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Taipei, Taiwan","institution_ids":["https://openalex.org/I4210098366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210098366"],"apc_list":null,"apc_paid":null,"fwci":0.8021,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.73476785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"978","last_page":"983"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/path","display_name":"Path (computing)","score":0.6207558512687683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4818785786628723},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4653286337852478},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45816025137901306},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4185869097709656},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4184267520904541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4156340956687927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37541550397872925},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.308961421251297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2609403133392334},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12418520450592041},{"id":"https://openalex.org/keywords/genetics","display_name":"Genetics","score":0.07214373350143433},{"id":"https://openalex.org/keywords/gene","display_name":"Gene","score":0.07092595100402832}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6207558512687683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4818785786628723},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4653286337852478},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45816025137901306},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4185869097709656},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4184267520904541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4156340956687927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37541550397872925},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.308961421251297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2609403133392334},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12418520450592041},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.07214373350143433},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.07092595100402832},{"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/iros.2009.5354829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1551413036","https://openalex.org/W1572277230","https://openalex.org/W1665426509","https://openalex.org/W1809059965","https://openalex.org/W2000359213","https://openalex.org/W2006798207","https://openalex.org/W2033764547","https://openalex.org/W2042738562","https://openalex.org/W2056667972","https://openalex.org/W2101938656","https://openalex.org/W2111779498","https://openalex.org/W2120588906","https://openalex.org/W2122063210","https://openalex.org/W2128990851","https://openalex.org/W2130772530","https://openalex.org/W2136445059","https://openalex.org/W2137113647","https://openalex.org/W2146079123","https://openalex.org/W2163385431","https://openalex.org/W2307155630","https://openalex.org/W3171712720","https://openalex.org/W6637319553","https://openalex.org/W6681386857"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W2153702122","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,28,39,56,72,85],"novel":[4],"evolutionary":[5,17,87,111],"G3-continuous":[6,30],"(continuous-differentiable":[7],"curvature)":[8],"path":[9,18,37,43,112],"planner":[10,19,44,82,113],"for":[11],"nonholonomic":[12],"wheeled":[13],"mobile":[14],"robots.":[15],"The":[16,42,63,101],"generates":[20],"intermediate":[21,99],"configurations":[22],"connected":[23],"via":[24],"\u03b73-splines":[25,120],"that":[26,91],"yields":[27],"collision-free":[29],"path,":[31],"which":[32],"each":[33,61],"point":[34],"on":[35],"the":[36,81,94,105],"has":[38],"closed-form":[40],"expression.":[41],"is":[45],"implemented":[46],"as":[47],"architecture":[48],"of":[49,65,75,89,98,110],"island":[50],"parallel":[51],"genetic":[52,58],"algorithm":[53,59],"(IPGA)":[54],"running":[55],"variable-length":[57],"in":[60,68,80,114,122],"island.":[62],"techniques":[64],"spatial":[66],"fitness-sharing":[67],"search":[69],"space":[70],"and":[71,96,107,117],"crowded":[73],"measure":[74],"generated":[76],"paths":[77,90,121],"are":[78],"integrated":[79],"to":[83],"implement":[84],"high-diversity":[86],"optimizer":[88],"could":[92],"self-adjust":[93],"spacing":[95],"number":[97],"configurations.":[100],"experimental":[102],"result":[103],"demonstrates":[104],"robustness":[106],"self-adjusting":[108],"capability":[109],"discovering":[115],"shorter":[116],"smoother":[118],"composite":[119],"complex":[123],"environments.":[124]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}