{"id":"https://openalex.org/W1983594750","doi":"https://doi.org/10.1109/robio.2014.7090437","title":"Sensor observation area compensating path planning for avoiding collisions with unknown obstacles","display_name":"Sensor observation area compensating path planning for avoiding collisions with unknown obstacles","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1983594750","doi":"https://doi.org/10.1109/robio.2014.7090437","mag":"1983594750"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5112288498","display_name":"Naoki SUGAWARA","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naoki Sugawara","raw_affiliation_strings":["Naoki Sugawara, Tohoku University, Miyagi, Japan","HumanRobot Informatics Laboratory, Graduate School of Information Sciences, To-hoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, Miyagi, 980-8579, Japan"],"affiliations":[{"raw_affiliation_string":"Naoki Sugawara, Tohoku University, Miyagi, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"HumanRobot Informatics Laboratory, Graduate School of Information Sciences, To-hoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, Miyagi, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113688124","display_name":"Eijiro Takeuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eijiro Takeuchi","raw_affiliation_strings":["Naoki Sugawara, Tohoku University, Miyagi, Japan","Intelligent Vehicle Research Division, Institute of Innovation for Future Society, Nagoya University, 208 Facility of Incubation, Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan"],"affiliations":[{"raw_affiliation_string":"Naoki Sugawara, Tohoku University, Miyagi, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Intelligent Vehicle Research Division, Institute of Innovation for Future Society, Nagoya University, 208 Facility of Incubation, Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Ohno","raw_affiliation_strings":["Naoki Sugawara, Tohoku University, Miyagi, Japan","HumanRobot Informatics Laboratory, Graduate School of Information Sciences, To-hoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, Miyagi, 980-8579, Japan"],"affiliations":[{"raw_affiliation_string":"Naoki Sugawara, Tohoku University, Miyagi, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"HumanRobot Informatics Laboratory, Graduate School of Information Sciences, To-hoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, Miyagi, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Naoki Sugawara, Tohoku University, Miyagi, Japan","HumanRobot Informatics Laboratory, Graduate School of Information Sciences, To-hoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, Miyagi, 980-8579, Japan"],"affiliations":[{"raw_affiliation_string":"Naoki Sugawara, Tohoku University, Miyagi, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"HumanRobot Informatics Laboratory, Graduate School of Information Sciences, To-hoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, Miyagi, 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112288498"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.2439,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5580915,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"843","last_page":"848"},"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":0.9994000196456909,"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/T12288","display_name":"Optimization and Search Problems","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/motion-planning","display_name":"Motion planning","score":0.8788679838180542},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.8775845766067505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.66386878490448},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6568998694419861},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6458576917648315},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6267664432525635},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5979892015457153},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5503772497177124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5300920605659485},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.45431965589523315},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4464975595474243},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.4333621859550476},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.41626450419425964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38850247859954834},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37227165699005127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12614557147026062}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8788679838180542},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.8775845766067505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.66386878490448},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6568998694419861},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6458576917648315},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6267664432525635},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5979892015457153},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5503772497177124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5300920605659485},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.45431965589523315},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4464975595474243},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.4333621859550476},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.41626450419425964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38850247859954834},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37227165699005127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12614557147026062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1569997948","https://openalex.org/W1821149804","https://openalex.org/W1969483458","https://openalex.org/W1977999138","https://openalex.org/W1996974073","https://openalex.org/W2061510125","https://openalex.org/W2067740589","https://openalex.org/W2101508824","https://openalex.org/W2107667896","https://openalex.org/W2113256452","https://openalex.org/W2131583384","https://openalex.org/W2133591555","https://openalex.org/W2154968336","https://openalex.org/W2158057652","https://openalex.org/W6634085925"],"related_works":["https://openalex.org/W2008534419","https://openalex.org/W2741602769","https://openalex.org/W1578306890","https://openalex.org/W4384915695","https://openalex.org/W2065742713","https://openalex.org/W4381746183","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2586992284"],"abstract_inverted_index":{"In":[0,82],"this":[1,83],"paper,":[2,84],"we":[3],"propose":[4],"a":[5,14,51],"path-planning":[6,37],"algorithm":[7],"for":[8,49,58],"mobile":[9],"robots":[10,76],"having":[11],"sensors":[12],"with":[13],"limited":[15],"field":[16],"of":[17,39,87],"view.":[18],"The":[19,36],"proposed":[20,41,74],"method":[21,42,89],"predicts":[22],"the":[23,27,40,46,55,64,68,73,85,88],"observable":[24],"region":[25],"in":[26],"planning":[28],"phase":[29],"and":[30,94],"minimizes":[31],"incursions":[32],"into":[33],"unobservable":[34],"regions.":[35],"process":[38],"not":[43],"only":[44],"involves":[45],"actions":[47,56],"required":[48,57],"reaching":[50],"destination":[52],"but":[53],"also":[54],"obtaining":[59],"information":[60],"about":[61],"obstacles":[62,79],"on":[63,67],"path":[65],"depending":[66],"sensor's":[69],"viewing":[70],"angle.":[71],"Using":[72],"method,":[75],"can":[77],"detect":[78],"before":[80],"collision.":[81],"effectiveness":[86],"is":[90],"confirmed":[91],"by":[92],"simulated":[93],"real-world":[95],"experiments.":[96]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}