{"id":"https://openalex.org/W4388755158","doi":"https://doi.org/10.1109/lra.2023.3334103","title":"Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration","display_name":"Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration","publication_year":2023,"publication_date":"2023-11-17","ids":{"openalex":"https://openalex.org/W4388755158","doi":"https://doi.org/10.1109/lra.2023.3334103"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3334103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334103","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-04282634/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048937100","display_name":"Thibault No\u00ebl","orcid":"https://orcid.org/0009-0000-6418-2104"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Thibault No\u00ebl","raw_affiliation_strings":["Inria, CNRS, IRISA, University of Rennes, Rennes, France"],"raw_orcid":"https://orcid.org/0009-0000-6418-2104","affiliations":[{"raw_affiliation_string":"Inria, CNRS, IRISA, University of Rennes, Rennes, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I2802519937","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049625929","display_name":"Antoine Lehuger","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antoine Lehuger","raw_affiliation_strings":["Créative Ingénierie, Rennes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Créative Ingénierie, Rennes, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004362037","display_name":"\u00c9ric Marchand","orcid":"https://orcid.org/0000-0001-7096-5236"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eric Marchand","raw_affiliation_strings":["Inria, CNRS, IRISA, University of Rennes, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0001-7096-5236","affiliations":[{"raw_affiliation_string":"Inria, CNRS, IRISA, University of Rennes, Rennes, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I2802519937","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037712031","display_name":"Fran\u00e7ois Chaumette","orcid":"https://orcid.org/0000-0002-1238-4385"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fran\u00e7ois Chaumette","raw_affiliation_strings":["Inria, CNRS, IRISA, University of Rennes, Rennes, France"],"raw_orcid":"https://orcid.org/0000-0002-1238-4385","affiliations":[{"raw_affiliation_string":"Inria, CNRS, IRISA, University of Rennes, Rennes, France","institution_ids":["https://openalex.org/I56067802","https://openalex.org/I2802519937","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048937100"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"],"apc_list":null,"apc_paid":null,"fwci":0.692,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72593597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"1","first_page":"555","last_page":"562"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9693999886512756,"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":0.6755986213684082},{"id":"https://openalex.org/keywords/skeleton","display_name":"Skeleton (computer programming)","score":0.6161002516746521},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5528098940849304},{"id":"https://openalex.org/keywords/relevance","display_name":"Relevance (law)","score":0.5364220142364502},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5287097692489624},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4846647381782532},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4497763514518738},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4459831118583679},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4303346276283264},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.396729439496994},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36640816926956177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17104780673980713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16085165739059448}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6755986213684082},{"id":"https://openalex.org/C18969341","wikidata":"https://www.wikidata.org/wiki/Q1169129","display_name":"Skeleton (computer programming)","level":2,"score":0.6161002516746521},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5528098940849304},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.5364220142364502},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5287097692489624},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4846647381782532},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4497763514518738},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4459831118583679},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4303346276283264},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.396729439496994},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36640816926956177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17104780673980713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16085165739059448},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3334103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334103","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"},{"id":"pmh:oai:HAL:hal-04282634v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04282634","pdf_url":"https://hal.science/hal-04282634/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (1), pp.555-562. ⟨10.1109/LRA.2023.3334103⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04282634v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04282634","pdf_url":"https://hal.science/hal-04282634/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (1), pp.555-562. ⟨10.1109/LRA.2023.3334103⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388755158.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W90274328","https://openalex.org/W131069610","https://openalex.org/W1517229131","https://openalex.org/W1570514300","https://openalex.org/W1971086298","https://openalex.org/W1991328253","https://openalex.org/W2004100691","https://openalex.org/W2072884685","https://openalex.org/W2107667896","https://openalex.org/W2108232656","https://openalex.org/W2124734946","https://openalex.org/W2128990851","https://openalex.org/W2152536965","https://openalex.org/W2153209587","https://openalex.org/W2211905658","https://openalex.org/W2338205278","https://openalex.org/W2412909029","https://openalex.org/W2568312006","https://openalex.org/W2768147481","https://openalex.org/W2898231767","https://openalex.org/W2907636777","https://openalex.org/W3023296372","https://openalex.org/W3090062608","https://openalex.org/W3090869974","https://openalex.org/W4200079766","https://openalex.org/W4292964992","https://openalex.org/W4312199827","https://openalex.org/W4312228742","https://openalex.org/W6605295560","https://openalex.org/W6703214588","https://openalex.org/W6732652919"],"related_works":["https://openalex.org/W2366107444","https://openalex.org/W4388145910","https://openalex.org/W2381570729","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0],"this":[1,67],"letter,":[2],"we":[3],"describe":[4],"a":[5,32,43,76,86],"novel":[6],"roadmap":[7,59],"construction":[8],"method":[9],"in":[10,42,57],"unknown":[11],"environments,":[12],"which":[13],"relies":[14],"on":[15],"the":[16,19,23,39,58,64,91],"extraction":[17],"of":[18,22,34,66,90],"Hamilton-Jacobi":[20],"skeleton":[21,27,40],"free":[24],"space.":[25],"This":[26],"is":[28],"used":[29],"to":[30,81],"construct":[31],"graph":[33],"free-space":[35],"bubbles,":[36],"effectively":[37],"compressing":[38],"information":[41],"sparse":[44],"data":[45],"structure":[46],"but":[47],"retaining":[48],"its":[49],"topology.":[50],"The":[51],"bubbles":[52],"also":[53,74],"enforce":[54],"safety":[55],"directly":[56],"structure.":[60],"We":[61,73],"first":[62],"demonstrate":[63],"relevance":[65],"approach":[68],"for":[69],"standard":[70],"path-planning":[71],"tasks.":[72],"propose":[75],"frontiers-based":[77],"exploration":[78],"strategy":[79],"able":[80],"autonomously":[82],"and":[83],"safely":[84],"build":[85],"complete":[87],"2D":[88],"map":[89],"environment.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}