{"id":"https://openalex.org/W1995909120","doi":"https://doi.org/10.1109/mmar.2013.6669928","title":"A method for real-time safe navigation in noisy environments","display_name":"A method for real-time safe navigation in noisy environments","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W1995909120","doi":"https://doi.org/10.1109/mmar.2013.6669928","mag":"1995909120"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2013.6669928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2013.6669928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)","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/A5041461061","display_name":"Seyed Ali Salehi Neyshabouri","orcid":null},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Seyed Ali Salehi Neyshabouri","raw_affiliation_strings":["Sharif University of Technology, Tehran, Tehran, IR","Dept. of Electr. Eng., SHARIF Univ. of Technol., Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Sharif University of Technology, Tehran, Tehran, IR","institution_ids":["https://openalex.org/I133529467"]},{"raw_affiliation_string":"Dept. of Electr. Eng., SHARIF Univ. of Technol., Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079549282","display_name":"Mohammad Reza Niknezhad","orcid":null},"institutions":[{"id":"https://openalex.org/I119025939","display_name":"Shahed University","ror":"https://ror.org/01e8ff003","country_code":"IR","type":"education","lineage":["https://openalex.org/I119025939"]},{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Reza Niknezhad","raw_affiliation_strings":["Shahed University, Tehran, Tehran, IR","Department of Computer Engineering, Iran University of Science and Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Shahed University, Tehran, Tehran, IR","institution_ids":["https://openalex.org/I119025939"]},{"raw_affiliation_string":"Department of Computer Engineering, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072864403","display_name":"Ehsan Kamali","orcid":null},"institutions":[{"id":"https://openalex.org/I119025939","display_name":"Shahed University","ror":"https://ror.org/01e8ff003","country_code":"IR","type":"education","lineage":["https://openalex.org/I119025939"]},{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ehsan Kamali","raw_affiliation_strings":["Iran University of Science and Technology, Tehran, Tehran, IR","Dept. of Electr. Eng., Shahed Univ., Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Iran University of Science and Technology, Tehran, Tehran, IR","institution_ids":["https://openalex.org/I67009956"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Shahed Univ., Tehran, Iran","institution_ids":["https://openalex.org/I119025939"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041219499","display_name":"Seyed Sadegh Mohseni Salehi Monfared","orcid":null},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Seyed Sadegh Mohseni Salehi Monfared","raw_affiliation_strings":["Sharif University of Technology, Tehran, Tehran, IR","Dept. of Electr. Eng., SHARIF Univ. of Technol., Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Sharif University of Technology, Tehran, Tehran, IR","institution_ids":["https://openalex.org/I133529467"]},{"raw_affiliation_string":"Dept. of Electr. Eng., SHARIF Univ. of Technol., Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041461061"],"corresponding_institution_ids":["https://openalex.org/I133529467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.072107,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"329","last_page":"333"},"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":0.9980999827384949,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/safer","display_name":"SAFER","score":0.7746186852455139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7526156902313232},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7348338961601257},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.6428545117378235},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6016392707824707},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5851571559906006},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5298150777816772},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.45692798495292664},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4466632306575775},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4271728992462158},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39895105361938477},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3659794330596924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33097463846206665},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32492515444755554},{"id":"https://openalex.org/keywords/computer-engineering","display_name":"Computer engineering","score":0.32065653800964355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.29669445753097534},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12662151455879211}],"concepts":[{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.7746186852455139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7526156902313232},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7348338961601257},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6428545117378235},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6016392707824707},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5851571559906006},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5298150777816772},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.45692798495292664},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4466632306575775},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4271728992462158},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39895105361938477},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3659794330596924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33097463846206665},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32492515444755554},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.32065653800964355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29669445753097534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12662151455879211},{"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2013.6669928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2013.6669928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2000359213","https://openalex.org/W2053407718","https://openalex.org/W2113286054","https://openalex.org/W2113823172","https://openalex.org/W2143826757","https://openalex.org/W2165216595","https://openalex.org/W2949623849","https://openalex.org/W6677316683"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2134348961","https://openalex.org/W4308217561","https://openalex.org/W2115192598","https://openalex.org/W2160419405","https://openalex.org/W2116162693"],"abstract_inverted_index":{"The":[0],"challenge":[1],"of":[2,13,38,50,58,68,90,106,114,123,131,141],"finding":[3],"an":[4,35],"optimized":[5],"and":[6,138],"reliable":[7],"path":[8,70],"dates":[9],"back":[10],"to":[11,34,127,154],"emersion":[12],"mobile":[14],"robots.":[15],"Several":[16],"approaches":[17],"have":[18,22],"been":[19],"developed":[20],"that":[21,65],"partially":[23],"answered":[24],"this":[25,136],"need.":[26],"Satisfying":[27],"results":[28],"in":[29,43,47,71,119],"previous":[30],"implementations":[31],"has":[32],"led":[33],"increased":[36],"utilization":[37],"sampling-based":[39],"motion":[40,83],"planning":[41],"algorithms":[42,60],"recent":[44],"years,":[45],"especially":[46],"high":[48],"degrees":[49],"freedom":[51],"(DOF),":[52],"fast":[53],"evolving":[54],"environments.":[55],"Another":[56],"advantage":[57],"these":[59],"is":[61,161],"their":[62],"probabilistic":[63],"completeness":[64],"guarantees":[66],"delivery":[67],"a":[69,107,116,155,158],"sufficient":[72],"time,":[73],"if":[74],"one":[75],"exists.":[76],"On":[77],"the":[78,91,98,104,112,120,124,129,144],"other":[79],"hand,":[80],"sampling":[81,121],"based":[82],"planners":[84],"leave":[85],"no":[86],"comment":[87],"on":[88,143],"safety":[89,108],"planned":[92],"path.":[93],"This":[94],"paper":[95],"suggests":[96],"biasing":[97],"Rapidly-exploring":[99],"Random":[100],"Trees":[101],"(RRTs),":[102],"with":[103,149],"outcome":[105],"evaluation,":[109],"which":[110],"affects":[111],"probability":[113],"choosing":[115],"random":[117],"point":[118],"phase":[122],"RRT":[125],"algorithm,":[126],"increase":[128],"chance":[130],"safer":[132,156],"outcomes.":[133],"By":[134],"parallelizing":[135],"algorithm":[137],"multifold":[139],"execution":[140],"it":[142],"Graphics":[145],"Processing":[146],"Unit":[147],"(GPU)":[148],"various":[150],"probabilities":[151],"for":[152],"moving":[153],"state,":[157],"near-optimal":[159],"solution":[160],"obtained.":[162]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}