{"id":"https://openalex.org/W4413104883","doi":"https://doi.org/10.1109/lra.2025.3597868","title":"HCOA*: Hierarchical Class-Ordered A* for Navigation in Semantic Environments","display_name":"HCOA*: Hierarchical Class-Ordered A* for Navigation in Semantic Environments","publication_year":2025,"publication_date":"2025-08-11","ids":{"openalex":"https://openalex.org/W4413104883","doi":"https://doi.org/10.1109/lra.2025.3597868"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3597868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597868","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2505.03128","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051911302","display_name":"Evangelos Psomiadis","orcid":"https://orcid.org/0000-0003-1545-6564"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos Psomiadis","raw_affiliation_strings":["D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0003-1545-6564","affiliations":[{"raw_affiliation_string":"D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Tsiotras","raw_affiliation_strings":["D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7563-4129","affiliations":[{"raw_affiliation_string":"D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7588,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.879629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"10","first_page":"10282","last_page":"10289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12031","display_name":"Speech and dialogue systems","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9664000272750854,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9610999822616577,"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/class","display_name":"Class (philosophy)","score":0.6889262199401855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5588993430137634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34779059886932373},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.332209050655365}],"concepts":[{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.6889262199401855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5588993430137634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34779059886932373},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.332209050655365}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3597868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597868","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:arXiv.org:2505.03128","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.03128","pdf_url":"https://arxiv.org/pdf/2505.03128","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2505.03128","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.03128","pdf_url":"https://arxiv.org/pdf/2505.03128","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1982809790","https://openalex.org/W2102248503","https://openalex.org/W2110335024","https://openalex.org/W2122111042","https://openalex.org/W2151958719","https://openalex.org/W2154522324","https://openalex.org/W2990129662","https://openalex.org/W3205203085","https://openalex.org/W3207711849","https://openalex.org/W4200305184","https://openalex.org/W4226236972","https://openalex.org/W4283332944","https://openalex.org/W4388860786","https://openalex.org/W4391743427","https://openalex.org/W4405873137"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,18,20,51,69,78,90,93,122,126,137],"problem":[4],"of":[5,17,92,128,140,154],"robot":[6],"navigation":[7,141],"in":[8,59,112],"mixed":[9,60],"geometric/semantic":[10,61],"3D":[11,116],"environments.":[12],"Given":[13],"a":[14,26,30,65,96,101,106,151],"hierarchical":[15],"representation":[16],"environment,":[19],"objective":[21],"is":[22],"to":[23,29,121,144],"navigate":[24],"from":[25],"start":[27],"position":[28],"goal,":[31],"while":[32,146],"satisfying":[33],"task-specific":[34],"safety":[35],"constraints":[36],"and":[37,56,72,105,124],"minimizing":[38],"computational":[39,138],"cost.":[40],"We":[41,63,80,109],"introduce":[42],"Hierarchical":[43],"Class-ordered":[44],"A*":[45],"(HCOA*),":[46],"an":[47],"algorithm":[48],"that":[49,134],"leverages":[50],"environment's":[52],"hierarchy":[53],"for":[54,77,84],"efficient":[55],"safe":[57],"path-planning":[58],"graphs.":[62],"use":[64],"total":[66],"order":[67],"over":[68],"semantic":[70],"classes":[71],"prove":[73],"theoretical":[74],"performance":[75,127,149],"guarantees":[76],"algorithm.":[79],"propose":[81],"three":[82],"approaches":[83],"higher-layer":[85],"node":[86],"classification":[87,130],"based":[88],"on":[89,114],"semantics":[91],"lowest":[94],"layer:":[95],"Graph":[97],"Neural":[98],"Network":[99],"method,":[100,104],"k-Nearest":[102],"Neighbors":[103],"Majority-Class":[107],"method.":[108],"evaluate":[110],"HCOA*":[111,135],"simulations":[113],"two":[115],"Scene":[117],"Graphs,":[118],"comparing":[119],"it":[120],"state-of-the-art":[123],"assessing":[125],"each":[129],"approach.":[131],"Results":[132],"show":[133],"reduces":[136],"time":[139],"by":[142],"up":[143],"50%,":[145],"maintaining":[147],"near-optimal":[148],"across":[150],"wide":[152],"range":[153],"scenarios.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-08-12T00:00:00"}
