{"id":"https://openalex.org/W2111121657","doi":"https://doi.org/10.1109/robot.2005.1570201","title":"Physical Path Planning Using the GNATs","display_name":"Physical Path Planning Using the GNATs","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2111121657","doi":"https://doi.org/10.1109/robot.2005.1570201","mag":"2111121657"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570201","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5044193569","display_name":"Keith J. O\u2019Hara","orcid":"https://orcid.org/0009-0002-3240-7537"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"K.J. O'Hara","raw_affiliation_strings":["The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086095053","display_name":"V.L. Bigio","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V.L. Bigio","raw_affiliation_strings":["The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013584061","display_name":"E.R. Dodson","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E.R. Dodson","raw_affiliation_strings":["The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079364463","display_name":"Aref Jalili Irani","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.J. Irani","raw_affiliation_strings":["The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110157018","display_name":"D. B. Walker","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.B. Walker","raw_affiliation_strings":["The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035482777","display_name":"Tucker Balch","orcid":"https://orcid.org/0000-0002-5148-2033"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T.R. Balch","raw_affiliation_strings":["The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"The BORG Lab, College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044193569"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":2.803,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.91291182,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"709","last_page":"714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9984999895095825,"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":0.8646026849746704},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6797142028808594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6484943628311157},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5836080312728882},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.534561038017273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4355059564113617},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3407452404499054},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34036165475845337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33283179998397827},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2692483067512512},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12005212903022766}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8646026849746704},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6797142028808594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6484943628311157},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5836080312728882},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.534561038017273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4355059564113617},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3407452404499054},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34036165475845337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33283179998397827},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2692483067512512},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12005212903022766}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570201","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570201","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W163106807","https://openalex.org/W1544435862","https://openalex.org/W1964119857","https://openalex.org/W2039252979","https://openalex.org/W2057650923","https://openalex.org/W2112824545","https://openalex.org/W2119380668","https://openalex.org/W2146417222","https://openalex.org/W2223243935","https://openalex.org/W2341171179","https://openalex.org/W2912823561","https://openalex.org/W4250446938","https://openalex.org/W6632500467"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W4395071568","https://openalex.org/W2904203243","https://openalex.org/W3139139461","https://openalex.org/W2125569607","https://openalex.org/W2359600231","https://openalex.org/W1660309994"],"abstract_inverted_index":{"We":[0,32],"continue":[1],"our":[2],"investigation":[3],"into":[4],"the":[5,25,41,51,62,69],"application":[6],"of":[7,50,76],"pervasive,":[8],"embedded":[9],"networks":[10],"to":[11,27,58],"support":[12],"multi-robot":[13],"tasks.":[14],"In":[15],"this":[16],"work":[17],"we":[18],"use":[19],"a":[20,22,35,66,74,84],"new":[21],"hardware":[23],"platform,":[24],"GNATs,":[26],"aid":[28],"in":[29,45,68,83],"path":[30,37,53,67],"planning.":[31],"have":[33],"implemented":[34],"physical":[36],"planning":[38,54,65],"algorithm":[39,55],"on":[40],"GNATs":[42],"previously":[43],"studied":[44],"simulation.":[46],"A":[47],"distributed":[48],"version":[49],"wavefront":[52],"is":[56],"used":[57],"propagate":[59],"paths":[60,78],"throughout":[61],"network,":[63],"thereby":[64],"real":[70],"world.":[71],"This":[72],"creates":[73],"graph":[75],"traversable":[77],"that":[79],"are":[80],"nearly":[81],"optimal":[82],"dynamic":[85],"environment.":[86]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}