{"id":"https://openalex.org/W2041515593","doi":"https://doi.org/10.1109/itsc.2013.6728269","title":"Path planning on grid maps with unknown goal poses","display_name":"Path planning on grid maps with unknown goal poses","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2041515593","doi":"https://doi.org/10.1109/itsc.2013.6728269","mag":"2041515593"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2013.6728269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2013.6728269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5051134586","display_name":"Georg Tanzmeister","orcid":"https://orcid.org/0000-0003-4042-031X"},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Tanzmeister","raw_affiliation_strings":["BMW Group Research and Technology, Munich, Germany",", BMW Group Research and Technology, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":", BMW Group Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062728111","display_name":"Martin Friedl","orcid":"https://orcid.org/0000-0003-4456-4943"},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Friedl","raw_affiliation_strings":["BMW Group Research and Technology, Munich, Germany",", BMW Group Research and Technology, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":", BMW Group Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Institute of Automatic Control Engineering of the Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering of the Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering of the Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering of the Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9986000061035156,"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/T11106","display_name":"Data Management and Algorithms","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8497810959815979},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7105045318603516},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6956923007965088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6929650902748108},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6657140851020813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.620864987373352},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.589512825012207},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.513927698135376},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4576595723628998},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4401096999645233},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.41465649008750916},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.38802093267440796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33752334117889404},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19372108578681946},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12215843796730042}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8497810959815979},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7105045318603516},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6956923007965088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6929650902748108},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6657140851020813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.620864987373352},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.589512825012207},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.513927698135376},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4576595723628998},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4401096999645233},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.41465649008750916},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38802093267440796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33752334117889404},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19372108578681946},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12215843796730042},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc.2013.6728269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2013.6728269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1216576","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1216576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W170770739","https://openalex.org/W177468924","https://openalex.org/W198732646","https://openalex.org/W1424654272","https://openalex.org/W1585104299","https://openalex.org/W1673310716","https://openalex.org/W1996183429","https://openalex.org/W2055207897","https://openalex.org/W2064658112","https://openalex.org/W2121806728","https://openalex.org/W2135835974","https://openalex.org/W2139398425","https://openalex.org/W2143826757","https://openalex.org/W2145089737","https://openalex.org/W2296385533","https://openalex.org/W2406067508","https://openalex.org/W2546496297","https://openalex.org/W2750147881","https://openalex.org/W2764068336","https://openalex.org/W3103759471","https://openalex.org/W4244494905","https://openalex.org/W4293682399","https://openalex.org/W6605295560","https://openalex.org/W6607211346","https://openalex.org/W6608150121","https://openalex.org/W6635187633","https://openalex.org/W6637131181","https://openalex.org/W6679896305","https://openalex.org/W6681425221","https://openalex.org/W6745275253"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W1904098742","https://openalex.org/W2908094156","https://openalex.org/W3158921809","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2161428574","https://openalex.org/W4395071568","https://openalex.org/W2077416514"],"abstract_inverted_index":{"Path":[0],"planning":[1,56],"for":[2],"robots":[3],"typically":[4],"consists":[5],"of":[6,30,55,62,70,75,81,139],"finding":[7],"a":[8,11,49],"path":[9,50],"from":[10],"given":[12,19,132],"start":[13],"state":[14,33],"to":[15,92,103,116,119,133],"one":[16],"or":[17],"multiple":[18],"goal":[20,32,63,96],"states.":[21],"However,":[22],"there":[23],"are":[24,131],"situations":[25],"in":[26,39,43,59],"which":[27],"the":[28,31,60,68,72,78,105,121,135,140],"pose":[29],"is":[34,53,90,113],"not":[35],"explicitly":[36],"known,":[37],"e.g.":[38],"sensor-based":[40],"autonomous":[41],"driving":[42],"unknown":[44],"environments.":[45],"This":[46],"paper":[47],"presents":[48],"planner":[51],"that":[52],"capable":[54],"feasible":[57],"paths":[58,101,118],"absence":[61],"poses.":[64],"The":[65],"approach":[66],"combines":[67],"advantages":[69],"both":[71],"focused":[73],"search":[74,80],"A*":[76],"and":[77,98,102,128,137],"uniformly-exploring":[79],"Rapidly":[82],"Exploring":[83],"Random":[84],"Trees.":[85],"With":[86],"this":[87],"approach,":[88],"it":[89,112],"possible":[91,123],"quickly":[93],"find":[94],"potential":[95],"states":[97],"their":[99],"corresponding":[100],"continue":[104],"exploration":[106],"as":[107],"processing":[108],"time":[109],"allows.":[110],"Furthermore,":[111],"shown":[114],"how":[115],"cluster":[117],"extract":[120],"main":[122],"directions.":[124],"Results":[125],"on":[126],"simulation":[127],"real":[129],"data":[130],"demonstrate":[134],"utility":[136],"efficiency":[138],"proposed":[141],"approach.":[142]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}