{"id":"https://openalex.org/W4289828881","doi":"https://doi.org/10.1109/med54222.2022.9837178","title":"Real-Time Path Planning for Fully Actuated Autonomous Surface Vehicles","display_name":"Real-Time Path Planning for Fully Actuated Autonomous Surface Vehicles","publication_year":2022,"publication_date":"2022-06-28","ids":{"openalex":"https://openalex.org/W4289828881","doi":"https://doi.org/10.1109/med54222.2022.9837178"},"language":"en","primary_location":{"id":"doi:10.1109/med54222.2022.9837178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med54222.2022.9837178","pdf_url":null,"source":{"id":"https://openalex.org/S4363608151","display_name":"2022 30th Mediterranean Conference on Control and Automation (MED)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 30th 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/A5074081180","display_name":"Robert Damerius","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Robert Damerius","raw_affiliation_strings":["University of Rostock,Institute of Automation,Germany","Institute of Automation, University of Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"University of Rostock,Institute of Automation,Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]},{"raw_affiliation_string":"Institute of Automation, University of Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002598775","display_name":"Torsten Jeinsch","orcid":"https://orcid.org/0000-0002-8287-2544"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Jeinsch","raw_affiliation_strings":["University of Rostock,Institute of Automation,Germany","Institute of Automation, University of Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"University of Rostock,Institute of Automation,Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]},{"raw_affiliation_string":"Institute of Automation, University of Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074081180"],"corresponding_institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I4665924"],"apc_list":null,"apc_paid":null,"fwci":0.2998,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62769143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"508","last_page":"513"},"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/motion-planning","display_name":"Motion planning","score":0.8398997187614441},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7164166569709778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6407803297042847},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6228073239326477},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6117238402366638},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5630738735198975},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5000038146972656},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4999527931213379},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.48048415780067444},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.47501835227012634},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.47412562370300293},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41971278190612793},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38888296484947205},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3710816502571106},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33276742696762085},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30964088439941406},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2799599766731262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22118014097213745},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15957635641098022},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13098856806755066}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8398997187614441},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7164166569709778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6407803297042847},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6228073239326477},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6117238402366638},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5630738735198975},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5000038146972656},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4999527931213379},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.48048415780067444},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.47501835227012634},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.47412562370300293},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41971278190612793},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38888296484947205},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3710816502571106},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33276742696762085},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30964088439941406},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2799599766731262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22118014097213745},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15957635641098022},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13098856806755066},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med54222.2022.9837178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med54222.2022.9837178","pdf_url":null,"source":{"id":"https://openalex.org/S4363608151","display_name":"2022 30th Mediterranean Conference on Control and Automation (MED)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 30th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1532701078","https://openalex.org/W1535948966","https://openalex.org/W1777783943","https://openalex.org/W2013724094","https://openalex.org/W2112271657","https://openalex.org/W2547673434","https://openalex.org/W2557741120","https://openalex.org/W2774346829","https://openalex.org/W2794277196","https://openalex.org/W2916107202","https://openalex.org/W2944811079","https://openalex.org/W3128262367","https://openalex.org/W3208089788","https://openalex.org/W6790597461"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W3139139461","https://openalex.org/W2056737145","https://openalex.org/W4297094037","https://openalex.org/W1660309994"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,24,28,33,63,89,137],"method":[4],"for":[5,9],"real-time":[6,157],"path":[7,26,96,131],"planning":[8],"fully":[10],"actuated":[11],"autonomous":[12],"surface":[13],"vehicles":[14],"in":[15,68,114,118],"confined":[16],"waters.":[17],"The":[18,126,149],"goal":[19],"is":[20,66,81,97,128,154],"to":[21,32,83,103,121,136],"continuously":[22],"generate":[23],"collision-free":[25],"from":[27,132],"given":[29,34],"initial":[30,57,134],"pose":[31,135,139],"final":[35,59,138],"pose.":[36],"Both":[37],"the":[38,52,70,85,92,95,101,109,123,144],"own":[39],"vehicle":[40,145],"and":[41,116],"static":[42,147],"obstacles":[43],"are":[44,61,75,112],"represented":[45],"as":[46,51],"convex":[47],"polygons.":[48],"As":[49],"soon":[50],"environment":[53],"changes,":[54],"or":[55,58],"other":[56],"poses":[60],"specified,":[62],"warm":[64,151],"start":[65,152],"performed,":[67],"which":[69],"results":[71],"of":[72,94,108,143],"previous":[73],"solutions":[74],"reused.":[76],"An":[77],"optimal":[78,130],"sampling-based":[79],"approach":[80],"used":[82],"explore":[84],"search":[86],"space.":[87],"In":[88],"cost":[90,110],"function,":[91],"length":[93],"weighted":[98],"together":[99],"with":[100,146],"distance":[102],"all":[104],"obstacles.":[105,148],"Some":[106],"parts":[107],"function":[111],"calculated":[113],"advance":[115],"stored":[117],"look-up":[119],"tables":[120],"reduce":[122],"computation":[124],"time.":[125],"result":[127],"an":[129,133],"that":[140],"avoids":[141],"collisions":[142],"proposed":[150],"procedure":[153],"tested":[155],"by":[156],"experiments":[158],"using":[159],"different":[160],"scenarios.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}