{"id":"https://openalex.org/W2131664587","doi":"https://doi.org/10.1109/isie.2014.6864789","title":"Mobile robot navigation system based on Probabilistic Road Map (PRM) with Halton sampling of configuration space","display_name":"Mobile robot navigation system based on Probabilistic Road Map (PRM) with Halton sampling of configuration space","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2131664587","doi":"https://doi.org/10.1109/isie.2014.6864789","mag":"2131664587"},"language":"en","primary_location":{"id":"doi:10.1109/isie.2014.6864789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2014.6864789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)","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/A5001616667","display_name":"Jasmin Velagi\u0107","orcid":"https://orcid.org/0000-0002-7563-891X"},"institutions":[{"id":"https://openalex.org/I104817121","display_name":"University of Sarajevo","ror":"https://ror.org/02hhwgd43","country_code":"BA","type":"education","lineage":["https://openalex.org/I104817121"]}],"countries":["BA"],"is_corresponding":true,"raw_author_name":"Jasmin Velagic","raw_affiliation_strings":["Department of Automatic Control and Electronics, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","Dept. of Autom. control & Electron., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Electronics, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I104817121"]},{"raw_affiliation_string":"Dept. of Autom. control & Electron., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina","institution_ids":["https://openalex.org/I104817121"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081151460","display_name":"Dada Delimustafic","orcid":null},"institutions":[{"id":"https://openalex.org/I104817121","display_name":"University of Sarajevo","ror":"https://ror.org/02hhwgd43","country_code":"BA","type":"education","lineage":["https://openalex.org/I104817121"]}],"countries":["BA"],"is_corresponding":false,"raw_author_name":"Dada Delimustafic","raw_affiliation_strings":["Department of Automatic Control and Electronics, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","Dept. of Autom. control & Electron., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Electronics, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I104817121"]},{"raw_affiliation_string":"Dept. of Autom. control & Electron., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina","institution_ids":["https://openalex.org/I104817121"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011598939","display_name":"Dinko Osmankovi\u0107","orcid":"https://orcid.org/0000-0002-7206-9651"},"institutions":[{"id":"https://openalex.org/I104817121","display_name":"University of Sarajevo","ror":"https://ror.org/02hhwgd43","country_code":"BA","type":"education","lineage":["https://openalex.org/I104817121"]}],"countries":["BA"],"is_corresponding":false,"raw_author_name":"Dinko Osmankovic","raw_affiliation_strings":["Department of Automatic Control and Electronics, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","Dept. of Autom. control & Electron., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Electronics, University of Sarajevo, Sarajevo, Bosnia and Herzegovina","institution_ids":["https://openalex.org/I104817121"]},{"raw_affiliation_string":"Dept. of Autom. control & Electron., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina","institution_ids":["https://openalex.org/I104817121"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001616667"],"corresponding_institution_ids":["https://openalex.org/I104817121"],"apc_list":null,"apc_paid":null,"fwci":0.7316,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.77050443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1227","last_page":"1232"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.9922999739646912,"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/computer-science","display_name":"Computer science","score":0.7289103865623474},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7002954483032227},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.6872445344924927},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6648291349411011},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5945684909820557},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5893734097480774},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.5326817631721497},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5023195743560791},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4831504225730896},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.481569766998291},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.48040273785591125},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44276875257492065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4422450363636017},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4349733591079712},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41315317153930664},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3705841302871704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13789543509483337},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.11162504553794861}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7289103865623474},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7002954483032227},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6872445344924927},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6648291349411011},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5945684909820557},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5893734097480774},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.5326817631721497},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5023195743560791},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4831504225730896},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.481569766998291},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.48040273785591125},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44276875257492065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4422450363636017},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4349733591079712},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41315317153930664},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3705841302871704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13789543509483337},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.11162504553794861},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/isie.2014.6864789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2014.6864789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"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":17,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1518223317","https://openalex.org/W1521163433","https://openalex.org/W1545349331","https://openalex.org/W1971086298","https://openalex.org/W2077209479","https://openalex.org/W2096636360","https://openalex.org/W2097737334","https://openalex.org/W2104171123","https://openalex.org/W2116360390","https://openalex.org/W2134741043","https://openalex.org/W2168148394","https://openalex.org/W2502616869","https://openalex.org/W4236470048","https://openalex.org/W4242811155","https://openalex.org/W4254343065","https://openalex.org/W6683491825"],"related_works":["https://openalex.org/W1483720348","https://openalex.org/W2077648827","https://openalex.org/W2013638832","https://openalex.org/W2140960507","https://openalex.org/W2053304376","https://openalex.org/W2124945447","https://openalex.org/W2667780154","https://openalex.org/W2586895547","https://openalex.org/W2403683192","https://openalex.org/W3005878929"],"abstract_inverted_index":{"The":[0,22,62,84,139],"paper":[1],"uses":[2],"Probabilistic":[3],"Road":[4],"Map":[5],"(PRM)":[6],"based":[7,40,119,128],"path":[8,64,103],"planning":[9,104,129],"algorithm":[10,77,130],"which":[11,57],"composes":[12],"Halton":[13,23,46,89],"point":[14,47],"sets":[15,48],"to":[16,51,101,125],"improve":[17],"mobile":[18],"robot":[19,30,55],"navigation":[20,133,144],"capabilities.":[21],"set":[24],"obtains":[25],"a":[26,69,92,116],"good":[27],"coverage":[28],"of":[29,82,86,88,109,112,141],"environment":[31,115],"with":[32],"points":[33,90],"that":[34],"is":[35,121,135],"better":[36],"than":[37],"using":[38,75],"grid":[39],"methods.":[41],"Within":[42],"PRM":[43,127],"learning":[44],"phase":[45,81],"are":[49,105],"used":[50],"randomly":[52],"generate":[53],"the":[54,98,102,131,142],"configurations":[56],"constitute":[58],"probabilistic":[59],"road":[60],"maps.":[61],"shortest":[63],"between":[65,94],"an":[66,113],"initial":[67],"and":[68,91,137,151],"final":[70],"configuration":[71,100],"was":[72,146],"founded":[73],"out":[74],"A*":[76],"adopted":[78],"for":[79,97],"query":[80],"PRM.":[83],"influence":[85],"number":[87],"distance":[93],"adjacent":[95],"nodes":[96],"current":[99],"analyzed.":[106],"For":[107],"purpose":[108],"map":[110],"building":[111],"unstructured":[114],"new":[117],"histogramic":[118],"method":[120],"applied.":[122],"In":[123],"order":[124],"implement":[126],"whole":[132],"system":[134,145],"designed":[136],"implemented.":[138],"effectiveness":[140],"proposed":[143],"demonstrated":[147],"in":[148],"both":[149],"simulation":[150],"experimental":[152],"modes.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
