{"id":"https://openalex.org/W2055609113","doi":"https://doi.org/10.1109/iros.2012.6386237","title":"A cost-aware path planning algorithm for mobile robots","display_name":"A cost-aware path planning algorithm for mobile robots","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2055609113","doi":"https://doi.org/10.1109/iros.2012.6386237","mag":"2055609113"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5101682061","display_name":"Junghun Suh","orcid":"https://orcid.org/0000-0001-9051-8097"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Junghun Suh","raw_affiliation_strings":["School of Electrical Engineering and Computer Science and ASRI, Seoul National University, Seoul, South Korea","School of Electrical Engineering and Computer Science and ASRI, Seoul National University, 151-744, Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science and ASRI, Seoul National University, 151-744, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033764106","display_name":"Songhwai Oh","orcid":"https://orcid.org/0000-0002-9781-2018"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Songhwai Oh","raw_affiliation_strings":["School of Electrical Engineering and Computer Science and ASRI, Seoul National University, Seoul, South Korea","School of Electrical Engineering and Computer Science and ASRI, Seoul National University, 151-744, Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science and ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science and ASRI, Seoul National University, 151-744, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101682061"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":1.3727,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.83102617,"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":"4724","last_page":"4729"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8531275987625122},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7088246941566467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6103183031082153},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5983358025550842},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5618751049041748},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49235856533050537},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.4708271324634552},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4696848690509796},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4246247112751007},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4181787073612213},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3959294855594635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21397069096565247},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18775013089179993},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.13852223753929138},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07185420393943787}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8531275987625122},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7088246941566467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6103183031082153},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5983358025550842},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5618751049041748},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49235856533050537},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.4708271324634552},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4696848690509796},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4246247112751007},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4181787073612213},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3959294855594635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21397069096565247},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18775013089179993},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.13852223753929138},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07185420393943787},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1658011328","https://openalex.org/W2000359213","https://openalex.org/W2000790002","https://openalex.org/W2002201291","https://openalex.org/W2021088595","https://openalex.org/W2034801091","https://openalex.org/W2096246174","https://openalex.org/W2103639171","https://openalex.org/W2132083787","https://openalex.org/W2134176008","https://openalex.org/W2143826757","https://openalex.org/W2145432448","https://openalex.org/W2146467128","https://openalex.org/W2148996837","https://openalex.org/W2149716029","https://openalex.org/W2162112538","https://openalex.org/W2295789115","https://openalex.org/W2547222361","https://openalex.org/W4211049957","https://openalex.org/W4245959779","https://openalex.org/W6637214438","https://openalex.org/W6681417966"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2908094156","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,14,73,122,163],"cost-aware":[6,56,134],"path":[7,57,106,112,135,164,172,183],"planning":[8,58,136,184],"algorithm":[9,59,137,144,161],"for":[10,152],"mobile":[11],"robots.":[12],"As":[13],"robot":[15,23,38,46,123],"moves":[16],"from":[17],"one":[18],"location":[19],"to":[20,61,168,179],"another,":[21],"the":[22,27,37,42,45,48,54,63,66,93,103,111,114,126,139,147,159,169],"is":[24,39,60,110,119,166],"penalized":[25],"by":[26,41,145],"cost":[28,35,49,70,94,105,171],"at":[29,100],"its":[30],"current":[31],"location.":[32],"The":[33,51,69,132],"overall":[34],"of":[36,44,53,72],"determined":[40],"trajectory":[43,64],"over":[47],"map.":[50],"goal":[52],"proposed":[55,133,160],"find":[62],"with":[65,113,128],"minimal":[67],"cost.":[68],"map":[71,95],"field":[74],"can":[75],"represent":[76],"environmental":[77],"parameters,":[78],"such":[79],"as":[80],"temperature,":[81],"humidity,":[82],"chemical":[83],"concentration,":[84],"wireless":[85,130],"signal":[86],"strength,":[87],"and":[88,173,181],"stealthiness.":[89],"For":[90],"example,":[91],"if":[92],"represents":[96],"packet":[97],"drop":[98],"rates":[99],"different":[101],"locations,":[102],"minimum":[104],"between":[107],"two":[108],"locations":[109],"best":[115],"possible":[116],"communication,":[117],"which":[118,165],"desirable":[120],"when":[121],"operates":[124],"under":[125],"environment":[127],"weak":[129],"signals.":[131],"extends":[138],"rapidly-exploring":[140],"random":[141],"tree":[142],"(RRT)":[143],"applying":[146],"cross":[148],"entropy":[149],"(CE)":[150],"method":[151],"extending":[153],"motion":[154],"segments.":[155],"We":[156],"show":[157],"that":[158],"finds":[162],"close":[167],"near-optimal":[170],"gives":[174],"an":[175],"outstanding":[176],"performance":[177],"compared":[178],"RRT":[180],"CE-based":[182],"methods":[185],"through":[186],"extensive":[187],"simulation.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}