{"id":"https://openalex.org/W1554504841","doi":"https://doi.org/10.1109/robot.2003.1242175","title":"Smooth path planning by using visibility graph-like method","display_name":"Smooth path planning by using visibility graph-like method","publication_year":2004,"publication_date":"2004-03-22","ids":{"openalex":"https://openalex.org/W1554504841","doi":"https://doi.org/10.1109/robot.2003.1242175","mag":"1554504841"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5063339619","display_name":"Tomomi Kito","orcid":"https://orcid.org/0000-0003-2994-7807"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Kito","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","Dept. of Precision Eng., Tokyo Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037920030","display_name":"Jun Ota","orcid":"https://orcid.org/0000-0002-4738-2275"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Ota","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","Dept. of Precision Eng., Tokyo Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114062763","display_name":"R. Katsuki","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"R. Katsuki","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","Dept. of Precision Eng., Tokyo Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059278142","display_name":"T. Mizuta","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Mizuta","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","Dept. of Precision Eng., Tokyo Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102873300","display_name":"Tamio Arai","orcid":"https://orcid.org/0000-0003-4881-6503"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Arai","raw_affiliation_strings":["Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","Dept. of Precision Eng., Tokyo Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Precision Eng., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103204208","display_name":"T. Ueyama","orcid":"https://orcid.org/0000-0001-6349-080X"},"institutions":[{"id":"https://openalex.org/I4210132650","display_name":"Denso (Japan)","ror":"https://ror.org/04hkpfa76","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210132650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ueyama","raw_affiliation_strings":["Denso-wave, Inc., Aichi, Japan","DENSO Wave Inc"],"affiliations":[{"raw_affiliation_string":"Denso-wave, Inc., Aichi, Japan","institution_ids":["https://openalex.org/I4210132650"]},{"raw_affiliation_string":"DENSO Wave Inc","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113229501","display_name":"T. NISHIYAMA","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132650","display_name":"Denso (Japan)","ror":"https://ror.org/04hkpfa76","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210132650"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Nishiyama","raw_affiliation_strings":["Denso-wave, Inc., Aichi, Japan","DENSO Wave Inc"],"affiliations":[{"raw_affiliation_string":"Denso-wave, Inc., Aichi, Japan","institution_ids":["https://openalex.org/I4210132650"]},{"raw_affiliation_string":"DENSO Wave Inc","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5063339619"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.0932,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.78070244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"3770","last_page":"3775"},"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":0.9973999857902527,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/visibility-graph","display_name":"Visibility graph","score":0.8417499661445618},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.7630184888839722},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.7476560473442078},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6574130058288574},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6477600932121277},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5780792832374573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5389567017555237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4878547191619873},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.47651636600494385},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3720655143260956},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.371451199054718},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3120972216129303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23711609840393066},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21182113885879517},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16037848591804504},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09586086869239807},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.06923472881317139}],"concepts":[{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.8417499661445618},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.7630184888839722},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7476560473442078},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6574130058288574},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6477600932121277},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5780792832374573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5389567017555237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4878547191619873},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.47651636600494385},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3720655143260956},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.371451199054718},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3120972216129303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23711609840393066},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21182113885879517},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16037848591804504},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09586086869239807},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.06923472881317139},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"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/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/robot.2003.1242175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7599999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W272007376","https://openalex.org/W1992350889","https://openalex.org/W2116842611","https://openalex.org/W2123787681","https://openalex.org/W2128644970","https://openalex.org/W2128990851","https://openalex.org/W2148970883","https://openalex.org/W2157819258","https://openalex.org/W2170508483","https://openalex.org/W2313274380","https://openalex.org/W4230748836","https://openalex.org/W6610040064","https://openalex.org/W6678121631"],"related_works":["https://openalex.org/W2743652671","https://openalex.org/W2911638885","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2614449343","https://openalex.org/W2904203243","https://openalex.org/W2044243445"],"abstract_inverted_index":{"To":[0,70],"achieve":[1],"smooth":[2],"motion":[3],"of":[4,46,60,82,90],"car-like":[5],"robots,":[6],"it":[7],"is":[8,28,54,68],"necessary":[9],"to":[10],"generate":[11],"paths":[12,102],"that":[13,29],"satisfy":[14],"the":[15,34,74,80,88,91,98,101],"following":[16,75],"conditions:":[17],"maximum":[18,20],"curvature,":[19],"curvature":[21,24],"derivative,":[22],"and":[23,51,86],"continuity.":[25],"Another":[26],"requirement":[27],"human":[30],"operators":[31],"can":[32],"manipulate":[33],"robots":[35],"with":[36,64],"ease.":[37],"In":[38,56],"this":[39,72],"paper,":[40],"a":[41,58,65],"path":[42,62,94],"expression":[43],"methodology":[44],"consisting":[45],"line":[47],"segments,":[48],"circular":[49],"arcs":[50,53],"clothoid":[52],"presented.":[55],"addition,":[57],"method":[59],"global":[61],"generation":[63],"visibility":[66],"graph":[67,92],"proposed.":[69],"establish":[71],"method,":[73,100],"steps":[76],"are":[77],"proposed:":[78],"(a)":[79],"arrangement":[81],"subgoals":[83],"(middle":[84],"points)":[85],"(b)":[87],"construction":[89],"for":[93],"generation.":[95],"By":[96],"using":[97],"proposed":[99],"were":[103],"shortened":[104],"14%":[105],"on":[106],"average.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}