{"id":"https://openalex.org/W2153574945","doi":"https://doi.org/10.1109/iros.2009.5354829","title":"Mobile robot path planning with &amp;#x03B7;&lt;sup&gt;3&lt;/sup&gt;-splines using spatial-fitness-sharing variable-length genetic algorithm","display_name":"Mobile robot path planning with &amp;#x03B7;&lt;sup&gt;3&lt;/sup&gt;-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":"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/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":0.9854,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79851248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"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":[{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"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":[3,36,51,68,84,97],"novel":[4],"evolutionary":[5,21,99,123],"G":[6,38],"<sup":[7,30,39,133],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[8,31,40,134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[9,32,41,135],"-continuous":[10,42],"(continuous-differentiable":[11],"curvature)":[12],"path":[13,22,49,55,124],"planner":[14,23,56,94,125],"for":[15],"nonholonomic":[16],"wheeled":[17],"mobile":[18],"robots.":[19],"The":[20,54,75,113],"generates":[24],"intermediate":[25,111],"configurations":[26],"connected":[27],"via":[28],"\u03b7":[29,132],"-splines":[33,136],"that":[34,103],"yields":[35],"collision-free":[37],"path,":[43],"which":[44],"each":[45,73],"point":[46],"on":[47],"the":[48,93,106,117],"has":[50],"closed-form":[52],"expression.":[53],"is":[57],"implemented":[58],"as":[59],"architecture":[60],"of":[61,77,87,101,110,122],"island":[62],"parallel":[63],"genetic":[64,70],"algorithm":[65,71],"(IPGA)":[66],"running":[67],"variable-length":[69],"in":[72,80,92,126,138],"island.":[74],"techniques":[76],"spatial":[78],"fitness-sharing":[79],"search":[81],"space":[82],"and":[83,108,119,129],"crowded":[85],"measure":[86],"generated":[88],"paths":[89,102,137],"are":[90],"integrated":[91],"to":[95],"implement":[96],"high-diversity":[98],"optimizer":[100],"could":[104],"self-adjust":[105],"spacing":[107],"number":[109],"configurations.":[112],"experimental":[114],"result":[115],"demonstrates":[116],"robustness":[118],"self-adjusting":[120],"capability":[121],"discovering":[127],"shorter":[128],"smoother":[130],"composite":[131],"complex":[139],"environments.":[140]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}