{"id":"https://openalex.org/W2515876283","doi":"https://doi.org/10.1109/lra.2016.2602240","title":"A Fast Random Walk Approach to Find Diverse Paths for Robot Navigation","display_name":"A Fast Random Walk Approach to Find Diverse Paths for Robot Navigation","publication_year":2016,"publication_date":"2016-08-24","ids":{"openalex":"https://openalex.org/W2515876283","doi":"https://doi.org/10.1109/lra.2016.2602240","mag":"2515876283"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2602240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2602240","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5017989436","display_name":"Luigi Palmieri","orcid":"https://orcid.org/0000-0002-4908-5434"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Luigi Palmieri","raw_affiliation_strings":["Bosch Corporate Research, Stuttgart, Germany","Social Robotics Laboratory, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Social Robotics Laboratory, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046610614","display_name":"Andrey Rudenko","orcid":"https://orcid.org/0000-0002-2181-3444"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andrey Rudenko","raw_affiliation_strings":["Social Robotics Laboratory, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Social Robotics Laboratory, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111969299","display_name":"Kai O. Arras","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]},{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai O. Arras","raw_affiliation_strings":["Bosch Corporate Research, Stuttgart, Germany","Social Robotics Laboratory, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Social Robotics Laboratory, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017989436"],"corresponding_institution_ids":["https://openalex.org/I161046081","https://openalex.org/I889804353"],"apc_list":null,"apc_paid":null,"fwci":1.3557,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87141086,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":"1","first_page":"269","last_page":"276"},"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":0.9958000183105469,"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":0.9933000206947327,"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/random-walk","display_name":"Random walk","score":0.6675317287445068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5427144169807434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4452098608016968},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3951635956764221},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21221095323562622},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1487773358821869}],"concepts":[{"id":"https://openalex.org/C121194460","wikidata":"https://www.wikidata.org/wiki/Q856741","display_name":"Random walk","level":2,"score":0.6675317287445068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5427144169807434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4452098608016968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3951635956764221},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21221095323562622},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1487773358821869}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2016.2602240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2602240","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8888759229","display_name":null,"funder_award_id":"FP7-ICT-600877","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W225875858","https://openalex.org/W1485071329","https://openalex.org/W1591987192","https://openalex.org/W1939385184","https://openalex.org/W1995831026","https://openalex.org/W2011282943","https://openalex.org/W2024924397","https://openalex.org/W2034006608","https://openalex.org/W2052120747","https://openalex.org/W2078948975","https://openalex.org/W2084474153","https://openalex.org/W2110762409","https://openalex.org/W2133989630","https://openalex.org/W2167052694","https://openalex.org/W2236883350","https://openalex.org/W2295417718","https://openalex.org/W2411443472","https://openalex.org/W4312769317","https://openalex.org/W6680140934","https://openalex.org/W6690059196","https://openalex.org/W6697205691"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W1597743604","https://openalex.org/W2038723108","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2033630974"],"abstract_inverted_index":{"Finding":[0],"a":[1,54],"set":[2],"of":[3,47,70],"diverse":[4,41],"paths":[5,42,69],"among":[6],"dynamic":[7],"obstacles":[8],"is":[9,64,87],"an":[10,29],"appealing":[11],"navigation":[12],"strategy":[13],"for":[14],"mobile":[15],"robots":[16],"to":[17,24],"qualitatively":[18],"reason":[19],"about":[20],"multiple":[21],"path":[22,52],"hypotheses":[23],"the":[25,44,48],"goal.":[26],"We":[27,58],"introduce":[28],"efficient":[30],"randomized":[31],"approach,":[32],"based":[33],"on":[34,43],"weighted":[35],"random":[36],"walks,":[37],"that":[38,61,84],"finds":[39],"$K$":[40],"Voronoi":[45],"diagram":[46],"environment,":[49],"where":[50],"each":[51],"represents":[53],"distinct":[55,74],"homotopy":[56,75],"class.":[57],"show":[59],"experimentally":[60],"our":[62,85],"approach":[63],"significantly":[65],"faster":[66],"at":[67],"finding":[68],"higher":[71],"diversity":[72],"in":[73],"classes":[76],"than":[77],"two":[78],"state-of-the-art":[79],"methods.":[80],"Moreover,":[81],"we":[82],"prove":[83],"method":[86],"probabilistically":[88],"complete.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}
