{"id":"https://openalex.org/W3007269416","doi":"https://doi.org/10.1109/isspit47144.2019.9001786","title":"Energy-Efficient Shortest Path Planning on Uneven Terrains: A Composite Routing Metric Approach","display_name":"Energy-Efficient Shortest Path Planning on Uneven Terrains: A Composite Routing Metric Approach","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3007269416","doi":"https://doi.org/10.1109/isspit47144.2019.9001786","mag":"3007269416"},"language":"en","primary_location":{"id":"doi:10.1109/isspit47144.2019.9001786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isspit47144.2019.9001786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT)","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/A5101535364","display_name":"Mohamed Saad","orcid":"https://orcid.org/0000-0003-2546-4453"},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Mohamed Saad","raw_affiliation_strings":["Dept. of Computer Engineering, University of Sharjah, UAE"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Engineering, University of Sharjah, UAE","institution_ids":["https://openalex.org/I29891158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011023387","display_name":"Ahmed I. Salameh","orcid":"https://orcid.org/0000-0002-7674-241X"},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Ahmed I. Salameh","raw_affiliation_strings":["Dept. of Computer Engineering, University of Sharjah, UAE"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Engineering, University of Sharjah, UAE","institution_ids":["https://openalex.org/I29891158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028383205","display_name":"Saeed Abdallah","orcid":"https://orcid.org/0000-0002-6174-4770"},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Saeed Abdallah","raw_affiliation_strings":["Dept. of Computer Engineering, University of Sharjah, UAE"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Engineering, University of Sharjah, UAE","institution_ids":["https://openalex.org/I29891158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101535364"],"corresponding_institution_ids":["https://openalex.org/I29891158"],"apc_list":null,"apc_paid":null,"fwci":0.5061,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.70606182,"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":"1","last_page":"6"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9958999752998352,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8511046171188354},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.7418637871742249},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7024232149124146},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6487204432487488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5516975522041321},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5492645502090454},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5133468508720398},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4909403622150421},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47166168689727783},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.45478618144989014},{"id":"https://openalex.org/keywords/constrained-shortest-path-first","display_name":"Constrained Shortest Path First","score":0.4458343982696533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4445390999317169},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.4374484419822693},{"id":"https://openalex.org/keywords/suurballes-algorithm","display_name":"Suurballe's algorithm","score":0.43492016196250916},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.43084269762039185},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3830997943878174},{"id":"https://openalex.org/keywords/k-shortest-path-routing","display_name":"K shortest path routing","score":0.3776940107345581},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37205684185028076},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3213185667991638},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2501440644264221},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23565644025802612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19874534010887146},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17211219668388367},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14144182205200195},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10087576508522034}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8511046171188354},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.7418637871742249},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7024232149124146},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6487204432487488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5516975522041321},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5492645502090454},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5133468508720398},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4909403622150421},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47166168689727783},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.45478618144989014},{"id":"https://openalex.org/C178067994","wikidata":"https://www.wikidata.org/wiki/Q1128278","display_name":"Constrained Shortest Path First","level":5,"score":0.4458343982696533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4445390999317169},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.4374484419822693},{"id":"https://openalex.org/C98779529","wikidata":"https://www.wikidata.org/wiki/Q7650417","display_name":"Suurballe's algorithm","level":5,"score":0.43492016196250916},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.43084269762039185},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3830997943878174},{"id":"https://openalex.org/C70266271","wikidata":"https://www.wikidata.org/wiki/Q6343044","display_name":"K shortest path routing","level":4,"score":0.3776940107345581},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37205684185028076},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3213185667991638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2501440644264221},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23565644025802612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19874534010887146},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17211219668388367},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14144182205200195},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10087576508522034},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isspit47144.2019.9001786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isspit47144.2019.9001786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W114643741","https://openalex.org/W1970805560","https://openalex.org/W1996183429","https://openalex.org/W2011039300","https://openalex.org/W2050710547","https://openalex.org/W2099236627","https://openalex.org/W2101975311","https://openalex.org/W2109032771","https://openalex.org/W2133833812","https://openalex.org/W2165852544","https://openalex.org/W2560699475","https://openalex.org/W2601789150","https://openalex.org/W2606213852","https://openalex.org/W2612476481","https://openalex.org/W2750632489","https://openalex.org/W2790745335","https://openalex.org/W2795672841","https://openalex.org/W2805528131","https://openalex.org/W2806207758","https://openalex.org/W2889457051","https://openalex.org/W2915816881","https://openalex.org/W3099644662","https://openalex.org/W3170972998"],"related_works":["https://openalex.org/W2037876","https://openalex.org/W7992011","https://openalex.org/W13236304","https://openalex.org/W14785291","https://openalex.org/W49154","https://openalex.org/W2452100","https://openalex.org/W13148062","https://openalex.org/W5951987","https://openalex.org/W5641240","https://openalex.org/W3333725"],"abstract_inverted_index":{"This":[0],"work":[1],"investigates":[2],"the":[3,30,36,44,57,61,64,72,103,107,117,120],"problem":[4],"of":[5,33,71,116,119],"energy-efficient":[6],"shortest":[7],"path":[8,62,77],"planning":[9],"for":[10,25,76,111],"autonomous":[11],"unmanned":[12],"vehicles":[13],"(AUVs)":[14],"in":[15,90,114],"outdoor":[16],"natural":[17],"terrain.":[18],"We":[19,48],"use":[20],"an":[21],"established":[22],"energy-cost":[23,112],"model":[24],"mobile":[26],"robots,":[27],"which":[28,88],"integrates":[29],"terrain's":[31],"angle":[32],"declination":[34],"with":[35,63,93,123],"gravity":[37],"and":[38,96],"wheel-terrain":[39],"friction":[40],"forces,":[41],"to":[42,67],"calculate":[43],"AUV's":[45],"energy":[46,58,127],"consumption.":[47],"propose":[49],"a":[50,69,85,91,124],"novel":[51],"composite":[52],"routing":[53],"metric":[54],"that":[55,102],"combines":[56],"consumption":[59],"along":[60],"traveled":[65],"distance,":[66],"create":[68],"variant":[70],"famous":[73],"Dijkstra":[74,109],"algorithm":[75,105,110],"planning.":[78],"Moreover,":[79],"we":[80],"obtain":[81],"our":[82],"results":[83,89,100],"using":[84],"real-world":[86],"terrain,":[87],"graph":[92],"10,000":[94],"nodes":[95],"80,000":[97],"links.":[98],"Our":[99],"indicate":[101],"developed":[104],"outperforms":[106],"conventional":[108],"minimization":[113],"terms":[115],"length":[118],"paths":[121],"obtained,":[122],"negligible":[125],"excessive":[126],"penalty.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}