{"id":"https://openalex.org/W4312470206","doi":"https://doi.org/10.1109/iros47612.2022.9981453","title":"Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space","display_name":"Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312470206","doi":"https://doi.org/10.1109/iros47612.2022.9981453"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981453","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5008282515","display_name":"Lea Steffen","orcid":"https://orcid.org/0000-0002-7485-6915"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lea Steffen","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091555095","display_name":"Tobias Weyer","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Weyer","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013795084","display_name":"Stefan Ulbrich","orcid":"https://orcid.org/0000-0003-4036-2607"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Ulbrich","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R\u00fcdiger Dillmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.177,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52452616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8101","last_page":"8108"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9943000078201294,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922999739646912,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7884107828140259},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7698600888252258},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.72966068983078},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6670966148376465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6622544527053833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6320703625679016},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6075917482376099},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5859988927841187},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5355380177497864},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4486973285675049},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.4287453293800354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4057938754558563},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.285844624042511},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.25510546565055847},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13131609559059143}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7884107828140259},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7698600888252258},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.72966068983078},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6670966148376465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6622544527053833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6320703625679016},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6075917482376099},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5859988927841187},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5355380177497864},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4486973285675049},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.4287453293800354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4057938754558563},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.285844624042511},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.25510546565055847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13131609559059143},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981453","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"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":36,"referenced_works":["https://openalex.org/W65738273","https://openalex.org/W1210565257","https://openalex.org/W1560788151","https://openalex.org/W1660808159","https://openalex.org/W1964539022","https://openalex.org/W1967495730","https://openalex.org/W1971632690","https://openalex.org/W1972837991","https://openalex.org/W2000214310","https://openalex.org/W2075060642","https://openalex.org/W2082149624","https://openalex.org/W2109212155","https://openalex.org/W2110762409","https://openalex.org/W2115617296","https://openalex.org/W2138754805","https://openalex.org/W2140876521","https://openalex.org/W2141664020","https://openalex.org/W2151613338","https://openalex.org/W2171644325","https://openalex.org/W2734741635","https://openalex.org/W2773158215","https://openalex.org/W2890807499","https://openalex.org/W2901136733","https://openalex.org/W3015773259","https://openalex.org/W3036150583","https://openalex.org/W3094478187","https://openalex.org/W3108441684","https://openalex.org/W3189785636","https://openalex.org/W3200867823","https://openalex.org/W3203686546","https://openalex.org/W4210979681","https://openalex.org/W4242990553","https://openalex.org/W4247865408","https://openalex.org/W6642044546","https://openalex.org/W6680294583","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W4381746183"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,18,23,58,91,105,108,113],"biologically":[3],"inspired":[4,66],"approach":[5],"for":[6],"path":[7],"planning":[8,103],"with":[9],"dynamic":[10,39],"obstacle":[11],"avoidance.":[12],"Path":[13],"plan-ning":[14],"is":[15,65,124],"performed":[16,89],"in":[17,76,128],"condensed":[19,55],"configuration":[20,49],"space":[21,50,56],"of":[22,61,73,80,146],"robot":[24,32,94,123],"generated":[25],"by":[26,51,67,96],"self-organizing":[27],"neural":[28],"networks":[29],"(SONN).":[30],"The":[31,54,122],"itself":[33],"and":[34,70,132],"static":[35],"as":[36,38,83,85],"well":[37,84],"obstacles":[40],"are":[41,88],"mapped":[42],"from":[43],"the":[44,48,62,71,86,143],"Cartesian":[45],"task":[46],"to":[47,126],"precomputed":[52],"kinematics.":[53],"represents":[57],"cognitive":[59,74],"map":[60],"environment,":[63,107],"which":[64,141],"place":[68],"cells":[69],"concept":[72],"maps":[75],"mammalian":[77],"brains.":[78],"Generation":[79],"training":[81],"data":[82],"evaluation":[87],"on":[90],"real":[92],"industrial":[93],"accompanied":[95],"simulations.":[97],"To":[98],"evaluate":[99],"reactive":[100],"collision-free":[101],"online":[102],"within":[104,137],"changing":[106,130],"demonstrator":[109],"was":[110,119],"realized.":[111],"Then,":[112],"comparative":[114],"study":[115],"regarding":[116],"sample-based":[117],"planners":[118],"carried":[120],"out.":[121],"able":[125],"operate":[127],"dynamically":[129],"environments":[131],"re-plan":[133],"its":[134],"motion":[135],"trajectories":[136],"impressing":[138],"0.02":[139],"seconds,":[140],"proofs":[142],"real-time":[144],"capability":[145],"our":[147],"concept.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}