{"id":"https://openalex.org/W1503194114","doi":"https://doi.org/10.1109/med.2015.7158890","title":"Geometrically constrained path planning with Fast Marching Square","display_name":"Geometrically constrained path planning with Fast Marching Square","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1503194114","doi":"https://doi.org/10.1109/med.2015.7158890","mag":"1503194114"},"language":"en","primary_location":{"id":"doi:10.1109/med.2015.7158890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2015.7158890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5034600396","display_name":"David \u00c1lvarez","orcid":"https://orcid.org/0000-0003-2056-640X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"David Alvarez","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045316000","display_name":"Javier V. G\u00f3mez","orcid":"https://orcid.org/0000-0003-3030-282X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier V. Gomez","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030540686","display_name":"Santiago Garrido","orcid":"https://orcid.org/0000-0002-3838-8421"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Santiago Garrido","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Moreno","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University, Legans, Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Robotics Lab., Department of Systems Engineering and Automation, Carlos III University, Av. Universidad 30, 28911 Legans (Madrid), Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034600396"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.02244519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1014","last_page":"1019"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/fast-marching-method","display_name":"Fast marching method","score":0.7977932095527649},{"id":"https://openalex.org/keywords/square","display_name":"Square (algebra)","score":0.623020350933075},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820841789245605},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5809513926506042},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5723047256469727},{"id":"https://openalex.org/keywords/marching-cubes","display_name":"Marching cubes","score":0.44254404306411743},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.338878333568573},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2870638966560364},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24679705500602722},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20646390318870544},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1872153878211975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.123210608959198},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.08087724447250366}],"concepts":[{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.7977932095527649},{"id":"https://openalex.org/C135692309","wikidata":"https://www.wikidata.org/wiki/Q111124","display_name":"Square (algebra)","level":2,"score":0.623020350933075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820841789245605},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5809513926506042},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5723047256469727},{"id":"https://openalex.org/C42087268","wikidata":"https://www.wikidata.org/wiki/Q1886184","display_name":"Marching cubes","level":3,"score":0.44254404306411743},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.338878333568573},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2870638966560364},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24679705500602722},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20646390318870544},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1872153878211975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.123210608959198},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.08087724447250366},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2015.7158890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2015.7158890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W127069151","https://openalex.org/W1424654272","https://openalex.org/W1639032689","https://openalex.org/W1981072919","https://openalex.org/W1987724084","https://openalex.org/W1991113069","https://openalex.org/W1998674867","https://openalex.org/W1999244633","https://openalex.org/W2000359213","https://openalex.org/W2004694947","https://openalex.org/W2004735736","https://openalex.org/W2028617598","https://openalex.org/W2076200020","https://openalex.org/W2098924500","https://openalex.org/W2119948266","https://openalex.org/W2127775177","https://openalex.org/W2137113647","https://openalex.org/W2149398730","https://openalex.org/W2156903767","https://openalex.org/W2168463767","https://openalex.org/W2189076595","https://openalex.org/W2295102760","https://openalex.org/W2611243847","https://openalex.org/W2724949136","https://openalex.org/W3137715965","https://openalex.org/W6605116107","https://openalex.org/W6740235389"],"related_works":["https://openalex.org/W2399245773","https://openalex.org/W2509367880","https://openalex.org/W3179692821","https://openalex.org/W2055052822","https://openalex.org/W2591763881","https://openalex.org/W2154416327","https://openalex.org/W4320803114","https://openalex.org/W2767798546","https://openalex.org/W2368795992","https://openalex.org/W4281609752"],"abstract_inverted_index":{"This":[0,52],"research":[1],"presents":[2],"a":[3,29,73,88,148,156],"novel":[4],"approach":[5,32],"for":[6],"geometrically":[7],"constrained":[8,171],"path":[9,30,49,172],"planning.":[10],"The":[11,42,79,121,142],"methodology":[12],"introduced":[13,46],"is":[14],"based":[15,33],"on":[16,34],"the":[17,48,56,60,69,94,97,107,127,130,133,140,165],"standard":[18],"Fast":[19],"Marching":[20],"Square":[21],"(FM":[22],"<sup":[23,65,102],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[24,66,103],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[25,67,104],")":[26],"method":[27,143,169],"and":[28,68,118,155],"extraction":[31,50],"an":[35,82,151],"optimisation":[36,83],"process":[37,84],"named":[38],"Differential":[39],"Evolution":[40],"(DE).":[41],"geometric":[43,70],"constraints":[44,71,134],"are":[45],"in":[47,126,160,170],"phase.":[51],"step":[53],"uses":[54],"both":[55],"funnel":[57],"potential":[58,166],"of":[59,81,96,112,167],"environment":[61],"created":[62],"with":[63,100,147],"FM":[64,101],"as":[72],"cost":[74],"function":[75],"to":[76,86,135],"be":[77,136],"minimised.":[78],"use":[80],"permits":[85],"get":[87],"close-to-optimal":[89],"path,":[90],"while":[91,129],"mostly":[92],"keeping":[93],"characteristics":[95],"paths":[98],"computed":[99],".":[105],"In":[106],"presented":[108],"simulations,":[109],"two":[110],"kinds":[111],"restrictions":[113],"have":[114],"been":[115,145],"applied:":[116],"soft":[117],"hard":[119],"ones.":[120],"first":[122],"allows":[123],"some":[124],"flexibility":[125],"constraints,":[128],"last":[131],"force":[132],"met":[137],"along":[138],"all":[139],"path.":[141],"has":[144],"tried":[146],"simple":[149],"bar,":[150],"articulated":[152],"double":[153],"bar":[154],"finger-like":[157],"kinematic":[158],"chain":[159],"different":[161],"environments.":[162],"Results":[163],"show":[164],"this":[168],"computation.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}