{"id":"https://openalex.org/W3178190939","doi":"https://doi.org/10.1109/lra.2021.3095026","title":"Polygon-Based Random Tree Search Algorithm for a Size-Changing Robot","display_name":"Polygon-Based Random Tree Search Algorithm for a Size-Changing Robot","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3178190939","doi":"https://doi.org/10.1109/lra.2021.3095026","mag":"3178190939"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3095026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095026","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/A5067080124","display_name":"Jangho Bae","orcid":"https://orcid.org/0000-0002-3000-1165"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jangho Bae","raw_affiliation_strings":["School of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3000-1165","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sumin Park","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sumin Park","raw_affiliation_strings":["Samsung Electronics Co., Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung Electronics Co., Seoul, Republic of Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["School of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0837-052X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-9447-7675","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6792,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.71140788,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"3","first_page":"8100","last_page":"8105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9988999962806702,"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/polygon","display_name":"Polygon (computer graphics)","score":0.6858946084976196},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6252182722091675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5968015193939209},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5064586400985718},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.47338834404945374},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35199251770973206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34934741258621216},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30665701627731323},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30582529306411743},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.2515227198600769},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.15616858005523682}],"concepts":[{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.6858946084976196},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6252182722091675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5968015193939209},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5064586400985718},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.47338834404945374},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35199251770973206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34934741258621216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30665701627731323},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30582529306411743},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.2515227198600769},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.15616858005523682},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3095026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3095026","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W171248756","https://openalex.org/W1973791928","https://openalex.org/W1974909294","https://openalex.org/W2015751084","https://openalex.org/W2032139405","https://openalex.org/W2059242341","https://openalex.org/W2143660670","https://openalex.org/W2416789059","https://openalex.org/W2775410230","https://openalex.org/W2908607484","https://openalex.org/W3000079614","https://openalex.org/W3004191061","https://openalex.org/W3010844811","https://openalex.org/W3175508272","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4380153838","https://openalex.org/W4398681136","https://openalex.org/W2383204375","https://openalex.org/W2107908243","https://openalex.org/W2000428152","https://openalex.org/W3047876231","https://openalex.org/W2118356379","https://openalex.org/W4248554653","https://openalex.org/W4389261498","https://openalex.org/W2544647789"],"abstract_inverted_index":{"This":[0,19],"letter":[1],"proposes":[2],"the":[3,40,61,71,97,100,105,114,131],"Polygon-based":[4],"Random":[5],"Tree":[6],"search":[7],"algorithm":[8,20,27,38,124],"with":[9,139],"Variable":[10,15],"polygon":[11],"size":[12,35],"(PRT-V)":[13],"for":[14],"Topology":[16],"Truss":[17],"(VTT).":[18],"improves":[21],"on":[22,96],"our":[23,53],"previous":[24,54],"path":[25],"planning":[26],"by":[28,111,120,155],"using":[29,52],"VTT\u2019s":[30],"ability":[31],"to":[32,65,89,125],"change":[33],"its":[34],"drastically.":[36],"The":[37],"partitions":[39],"space":[41,58],"into":[42],"unconstrained":[43],"areas":[44,59],"where":[45,60],"normal":[46],"(higher":[47],"speed)":[48],"locomotion":[49,115,123],"can":[50,144],"work":[51],"technique":[55],"and":[56,104],"tighter":[57],"robot":[62],"will":[63],"need":[64],"shrink":[66],"in":[67,135,152],"size.":[68],"We":[69],"call":[70],"points":[72],"that":[73],"delimit":[74],"these":[75],"spaces":[76,154],"<italic":[77],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[78],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">stopover":[79],"points</i>":[80],".":[81],"A":[82],"Voronoi":[83],"diagram-based":[84],"roadmap":[85],"method":[86],"is":[87,118],"used":[88],"automatically":[90],"find":[91],"appropriate":[92],"stopover":[93,98],"points.":[94],"Based":[95],"points,":[99],"desired":[101],"support":[102],"polygons":[103],"corresponding":[106],"nominal":[107],"lengths":[108],"are":[109],"generated":[110,119],"PRT-V.":[112],"Then,":[113],"of":[116,133],"VTT":[117,143],"a":[121,158],"non-impact":[122],"prevent":[126],"tipping":[127],"over.":[128],"Simulations":[129],"verify":[130],"performance":[132],"PRT-V":[134],"three":[136],"different":[137],"workspaces":[138],"obstacles.":[140],"With":[141],"PRT-V,":[142],"squeeze":[145],"through":[146],"narrow":[147],"passages":[148],"or":[149],"move":[150],"efficiently":[151],"large":[153],"increasing":[156],"size,":[157],"unique":[159],"feature.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
