{"id":"https://openalex.org/W4407782299","doi":"https://doi.org/10.1109/lra.2025.3544075","title":"Boolean Subtraction for Proximity Queries With Applications to Path Planning Tasks With Collisions","display_name":"Boolean Subtraction for Proximity Queries With Applications to Path Planning Tasks With Collisions","publication_year":2025,"publication_date":"2025-02-20","ids":{"openalex":"https://openalex.org/W4407782299","doi":"https://doi.org/10.1109/lra.2025.3544075"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3544075","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544075","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3544075","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yi Li","orcid":"https://orcid.org/0000-0002-8091-9660"},"institutions":[{"id":"https://openalex.org/I4210139723","display_name":"Fraunhofer Chalmers Research Centre for Industrial Mathematics","ror":"https://ror.org/03tqh5n18","country_code":"SE","type":"nonprofit","lineage":["https://openalex.org/I4210139723","https://openalex.org/I4923324"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Yi Li","raw_affiliation_strings":["Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-8091-9660","affiliations":[{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","institution_ids":["https://openalex.org/I4210139723"]},{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden","institution_ids":["https://openalex.org/I4210139723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061419955","display_name":"Evan Shellshear","orcid":"https://orcid.org/0000-0002-0035-0575"},"institutions":[{"id":"https://openalex.org/I4210139723","display_name":"Fraunhofer Chalmers Research Centre for Industrial Mathematics","ror":"https://ror.org/03tqh5n18","country_code":"SE","type":"nonprofit","lineage":["https://openalex.org/I4210139723","https://openalex.org/I4923324"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Evan Shellshear","raw_affiliation_strings":["Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","institution_ids":["https://openalex.org/I4210139723"]},{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden","institution_ids":["https://openalex.org/I4210139723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077044728","display_name":"Staffan Bj\u00f6rkenstam","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139723","display_name":"Fraunhofer Chalmers Research Centre for Industrial Mathematics","ror":"https://ror.org/03tqh5n18","country_code":"SE","type":"nonprofit","lineage":["https://openalex.org/I4210139723","https://openalex.org/I4923324"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Staffan Bj\u00f6rkenstam","raw_affiliation_strings":["Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","institution_ids":["https://openalex.org/I4210139723"]},{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden","institution_ids":["https://openalex.org/I4210139723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079777366","display_name":"Robert Bohlin","orcid":"https://orcid.org/0000-0003-0961-8811"},"institutions":[{"id":"https://openalex.org/I4210139723","display_name":"Fraunhofer Chalmers Research Centre for Industrial Mathematics","ror":"https://ror.org/03tqh5n18","country_code":"SE","type":"nonprofit","lineage":["https://openalex.org/I4210139723","https://openalex.org/I4923324"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Robert Bohlin","raw_affiliation_strings":["Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-0961-8811","affiliations":[{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","institution_ids":["https://openalex.org/I4210139723"]},{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden","institution_ids":["https://openalex.org/I4210139723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045892686","display_name":"Johan S. Carlson","orcid":"https://orcid.org/0000-0002-6042-5540"},"institutions":[{"id":"https://openalex.org/I4210139723","display_name":"Fraunhofer Chalmers Research Centre for Industrial Mathematics","ror":"https://ror.org/03tqh5n18","country_code":"SE","type":"nonprofit","lineage":["https://openalex.org/I4210139723","https://openalex.org/I4923324"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Johan S. Carlson","raw_affiliation_strings":["Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, Sweden","institution_ids":["https://openalex.org/I4210139723"]},{"raw_affiliation_string":"Geometry and Motion Planning Department, Fraunhofer-Chalmers Centre for Industrial Mathematics, Gothenburg, SE, Sweden","institution_ids":["https://openalex.org/I4210139723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210139723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01957016,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"4","first_page":"3598","last_page":"3603"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9986000061035156,"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":0.995199978351593,"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/T12029","display_name":"DNA and Biological Computing","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/subtraction","display_name":"Subtraction","score":0.8376861810684204},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6766645908355713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6385249495506287},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4282558262348175},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.37630635499954224},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.24019578099250793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21970856189727783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21688544750213623},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10163804888725281}],"concepts":[{"id":"https://openalex.org/C68060419","wikidata":"https://www.wikidata.org/wiki/Q40754","display_name":"Subtraction","level":2,"score":0.8376861810684204},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6766645908355713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6385249495506287},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4282558262348175},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.37630635499954224},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.24019578099250793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21970856189727783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21688544750213623},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10163804888725281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3544075","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544075","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3544075","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3544075","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1969472235","https://openalex.org/W1971948881","https://openalex.org/W1999134477","https://openalex.org/W1999250663","https://openalex.org/W2004011315","https://openalex.org/W2004139909","https://openalex.org/W2033083202","https://openalex.org/W2117495699","https://openalex.org/W2128990851","https://openalex.org/W2129486961","https://openalex.org/W2159622977","https://openalex.org/W2171851689","https://openalex.org/W3089898849","https://openalex.org/W3091537853","https://openalex.org/W4286611300","https://openalex.org/W4293200106","https://openalex.org/W6629171406","https://openalex.org/W6632258241","https://openalex.org/W6634784258","https://openalex.org/W6686084303","https://openalex.org/W6695191280"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","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":{"Path":[0],"planners":[1],"are":[2,45],"widely":[3],"used":[4],"in":[5,46,154],"many":[6],"different":[7],"fields":[8],"to":[9,73,113,132,160,221],"determine":[10],"a":[11,21,25,29,33,38,60,127,134,157,166,213],"sequence":[12],"of":[13,59,80,104],"valid":[14,34,115],"configurations":[15,43],"for":[16],"an":[17,70,140],"object,":[18],"such":[19],"as":[20],"robot":[22],"arm,":[23],"between":[24,92,165],"start":[26],"configuration":[27,35,103],"and":[28,82,95,176,223],"goal":[30],"configuration,":[31],"where":[32],"must":[36],"be":[37,49,111,114,130],"collision-free":[39],"one.":[40],"However,":[41],"sometimes":[42],"that":[44,218],"collision":[47],"should":[48,109,129],"valid.":[50],"For":[51],"example,":[52],"during":[53,124,199,225],"spot":[54,61,106],"welding,":[55],"the":[56,75,78,85,90,93,96,101,105,117,143,163,177,188,196,200,203,226],"two":[57],"electrodes":[58,94],"welding":[62,107],"gun":[63,108],"fuse":[64],"metal":[65,76,86,97],"sheets":[66,98],"together":[67],"by":[68,116,170],"applying":[69],"electrical":[71],"current":[72],"melt":[74],"at":[77,149,187],"point":[79],"contact":[81,150,189],"penetrate":[83],"into":[84],"sheets.":[87],"Even":[88],"though":[89],"distance":[91],"is":[99,208,219],"zero,":[100],"corresponding":[102],"still":[110],"considered":[112],"path":[118],"planner.":[119],"Another":[120],"example":[121],"might":[122],"be:":[123],"grasp":[125],"planning,":[126],"hand":[128],"allowed":[131],"touch":[133],"table":[135],"top":[136],"while":[137],"picking":[138],"up":[139],"item":[141],"on":[142],"table.":[144],"To":[145],"ensure":[146],"non-zero":[147],"distances":[148,164],"points,":[151,171],"we":[152],"propose":[153],"this":[155],"paper":[156],"novel":[158],"method":[159],"efficiently":[161],"compute":[162],"given":[167],"geometry":[168,178,205],"represented":[169],"line":[172],"segments,":[173],"or":[174],"triangles":[175],"remaining":[179,204],"after":[180,206],"Boolean":[181],"subtracting":[182],"multiple":[183],"convex":[184],"bodies":[185],"placed":[186],"points":[190],"from":[191],"another":[192],"geometry.":[193],"By":[194],"performing":[195],"subtraction":[197,207],"operations":[198],"query":[201],"phase,":[202],"never":[209],"explicitly":[210],"constructed,":[211],"creating":[212],"more":[214],"flexible":[215],"simulation":[216],"environment":[217],"easier":[220],"maintain":[222],"update":[224],"development":[227],"process.":[228]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
