{"id":"https://openalex.org/W2145362486","doi":"https://doi.org/10.1109/iros.2011.6094756","title":"Spline templates for fast path planning in unstructured environments","display_name":"Spline templates for fast path planning in unstructured environments","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2145362486","doi":"https://doi.org/10.1109/iros.2011.6094756","mag":"2145362486"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094756","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5033423535","display_name":"Marcel H\u00e4selich","orcid":null},"institutions":[{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]},{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"M. Haselich","raw_affiliation_strings":["Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]},{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088302859","display_name":"Nikolay Handzhiyski","orcid":"https://orcid.org/0000-0003-0681-6871"},"institutions":[{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]},{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N. Handzhiyski","raw_affiliation_strings":["Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]},{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006281711","display_name":"Christian Winkens","orcid":null},"institutions":[{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]},{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Winkens","raw_affiliation_strings":["Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]},{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008718172","display_name":"Dietrich Paulus","orcid":"https://orcid.org/0000-0002-2967-5277"},"institutions":[{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153937"]},{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Paulus","raw_affiliation_strings":["Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany"],"affiliations":[{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Koblenz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]},{"raw_affiliation_string":"Active Vision Group, AGAS Robotics, University of Koblenz-Landau, Universit\u00e4tsstr. 1, 56070, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033423535"],"corresponding_institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.15116279,"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":"3545","last_page":"3550"},"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":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8455682396888733},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7285957932472229},{"id":"https://openalex.org/keywords/equidistant","display_name":"Equidistant","score":0.6760194301605225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6684331893920898},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.6578424572944641},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.602292537689209},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5994936227798462},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5283872485160828},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5159361958503723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4677315652370453},{"id":"https://openalex.org/keywords/opengl","display_name":"OpenGL","score":0.46436047554016113},{"id":"https://openalex.org/keywords/raised-relief-map","display_name":"Raised-relief map","score":0.4289621114730835},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4222542941570282},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41027510166168213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3497146964073181},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3423765301704407},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.20431679487228394},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1579262614250183},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14339908957481384}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8455682396888733},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7285957932472229},{"id":"https://openalex.org/C158245278","wikidata":"https://www.wikidata.org/wiki/Q4386982","display_name":"Equidistant","level":2,"score":0.6760194301605225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6684331893920898},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.6578424572944641},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.602292537689209},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5994936227798462},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5283872485160828},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5159361958503723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4677315652370453},{"id":"https://openalex.org/C2778305236","wikidata":"https://www.wikidata.org/wiki/Q178570","display_name":"OpenGL","level":3,"score":0.46436047554016113},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.4289621114730835},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4222542941570282},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41027510166168213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3497146964073181},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3423765301704407},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.20431679487228394},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1579262614250183},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14339908957481384},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094756","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1556362595","https://openalex.org/W1585381382","https://openalex.org/W1969483458","https://openalex.org/W1993115704","https://openalex.org/W1999006234","https://openalex.org/W2024139303","https://openalex.org/W2029222698","https://openalex.org/W2100116220","https://openalex.org/W2114998424","https://openalex.org/W2115446322","https://openalex.org/W2120370123","https://openalex.org/W2139186974","https://openalex.org/W2157685395","https://openalex.org/W2158379988","https://openalex.org/W2163411428","https://openalex.org/W2169528473","https://openalex.org/W2319294888","https://openalex.org/W2336416123","https://openalex.org/W4229494571","https://openalex.org/W6605295560","https://openalex.org/W6633288425","https://openalex.org/W6634937374","https://openalex.org/W6677352149","https://openalex.org/W6699828263"],"related_works":["https://openalex.org/W2055230676","https://openalex.org/W2072288997","https://openalex.org/W2382063173","https://openalex.org/W2356683864","https://openalex.org/W2360208618","https://openalex.org/W2373739385","https://openalex.org/W2355828442","https://openalex.org/W2392191681","https://openalex.org/W2355332865","https://openalex.org/W2365557552"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,37,40,46,59,97,100,107,131,140,143,146,149,159,171,181],"problem":[4],"of":[5,16,39,99,148,177],"navigating":[6],"a":[7,17,68,104],"heavyweight":[8],"robot":[9,108,150],"autonomously":[10],"across":[11,114,123],"unstructured":[12],"environments.":[13],"The":[14,79,174],"data":[15],"3D":[18],"laser":[19],"range":[20],"finder":[21],"are":[22,55,151],"partitioned":[23],"in":[24,139],"real":[25],"time":[26],"into":[27],"equidistant":[28],"grid":[29,77],"cells":[30,135],"to":[31,35,45,57,83,111,186],"locate":[32],"obstacles":[33,49,88],"and":[34,86,125,145,165],"classify":[36],"negotiability":[38],"surface":[41],"terrain.":[42,101],"In":[43,153],"addition":[44],"distinction":[47],"between":[48],"or":[50,119],"free":[51,133],"space,":[52],"ground":[53,91],"measurements":[54],"examined":[56],"determine":[58,130],"local":[60],"terrain":[61,134],"roughness":[62,98],"for":[63,136,170],"each":[64,137],"cell.":[65],"We":[66,128],"present":[67],"novel":[69],"path":[70,172],"planning":[71],"algorithm":[72,80],"operating":[73],"on":[74],"these":[75],"classified":[76],"cells.":[78],"is":[81,109,180],"able":[82,110],"avoid":[84],"positive":[85],"negative":[87],"(cells":[89],"without":[90],"measurements),":[92],"as":[93,95],"well":[94],"regarding":[96],"By":[102],"applying":[103],"cost":[105,184],"function,":[106],"prefer":[112],"routes":[113,122],"smooth":[115],"terrain,":[116],"like":[117],"streets":[118],"trails,":[120],"over":[121],"rough":[124],"muddy":[126],"areas.":[127],"can":[129,157],"necessarily":[132],"spline":[138,161],"forefront":[141],"because":[142],"splines":[144],"dimensions":[147],"set.":[152],"this":[154,178],"way":[155],"we":[156],"access":[158],"resulting":[160],"templates":[162],"during":[163],"runtime":[164],"connect":[166],"them":[167],"very":[168],"fast":[169],"planning.":[173],"key":[175],"feature":[176],"approach":[179],"low":[182],"computation":[183],"compared":[185],"existing":[187],"approaches.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}