{"id":"https://openalex.org/W2152128591","doi":"https://doi.org/10.1109/robot.2006.1641881","title":"Multi-level free-space dilation for sampling narrow passages in PRM planning","display_name":"Multi-level free-space dilation for sampling narrow passages in PRM planning","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2152128591","doi":"https://doi.org/10.1109/robot.2006.1641881","mag":"2152128591"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5082344124","display_name":"David Hsu","orcid":"https://orcid.org/0000-0002-2309-4535"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"David Hsu","raw_affiliation_strings":["Computer Science Program, Singapore-MIT Alliance, Singapore, Singapore","Department of Computer Science, National University of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Program, Singapore-MIT Alliance, Singapore, Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054053087","display_name":"Gildardo Sanchez\u2010Ante","orcid":"https://orcid.org/0000-0003-3666-0855"},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"G. Sanchez-Ante","raw_affiliation_strings":["Computer Science Program, Singapore-MIT Alliance, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Program, Singapore-MIT Alliance, Singapore, Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111476242","display_name":"Ho-Lun Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ho-lun Cheng","raw_affiliation_strings":["Department of Computer Science, National University of Singapore, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113658744","display_name":"J.-C. Latombe","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.-C. Latombe","raw_affiliation_strings":["Department of Computer Science, University of Stanford, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7866,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.94047914,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1255","last_page":"1260"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.992900013923645,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dilation","display_name":"Dilation (metric space)","score":0.9217549562454224},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6533874273300171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5984857082366943},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5685921907424927},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5624030232429504},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.540062427520752},{"id":"https://openalex.org/keywords/free-space","display_name":"Free space","score":0.532779335975647},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.485705703496933},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4603523910045624},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45735540986061096},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36169010400772095},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34679943323135376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32494670152664185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2650412321090698},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07605418562889099}],"concepts":[{"id":"https://openalex.org/C2780757906","wikidata":"https://www.wikidata.org/wiki/Q5276676","display_name":"Dilation (metric space)","level":2,"score":0.9217549562454224},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6533874273300171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5984857082366943},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5685921907424927},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5624030232429504},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.540062427520752},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.532779335975647},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.485705703496933},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4603523910045624},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45735540986061096},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36169010400772095},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34679943323135376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32494670152664185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2650412321090698},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07605418562889099},{"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1641881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/40155","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/40155","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W281357932","https://openalex.org/W1495392417","https://openalex.org/W1498087925","https://openalex.org/W1521785144","https://openalex.org/W1585638810","https://openalex.org/W1670942551","https://openalex.org/W1903715478","https://openalex.org/W1966159541","https://openalex.org/W1971355878","https://openalex.org/W2000359213","https://openalex.org/W2016828152","https://openalex.org/W2021118704","https://openalex.org/W2022854905","https://openalex.org/W2037162618","https://openalex.org/W2041734689","https://openalex.org/W2058606296","https://openalex.org/W2077976550","https://openalex.org/W2101043416","https://openalex.org/W2107535513","https://openalex.org/W2115257338","https://openalex.org/W2128990851","https://openalex.org/W2154038478","https://openalex.org/W2155441094","https://openalex.org/W2156459680","https://openalex.org/W2161473822","https://openalex.org/W2171266831","https://openalex.org/W2196734151","https://openalex.org/W2504499316","https://openalex.org/W3115270213","https://openalex.org/W6629573421","https://openalex.org/W6637067985","https://openalex.org/W6642939606","https://openalex.org/W6682533216"],"related_works":["https://openalex.org/W2060743914","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"],"abstract_inverted_index":{"Free-space":[0],"dilation":[1,35,44,88,110,117],"is":[2,61,72],"an":[3],"effective":[4],"approach":[5,21],"for":[6,24,30,145],"narrow":[7],"passage":[8],"sampling,":[9],"a":[10,40,78,91,98,142],"well-recognized":[11],"difficulty":[12],"in":[13,64,81,124],"probabilistic":[14],"roadmap":[15],"(PRM)":[16],"planning.":[17,83],"Key":[18],"to":[19],"this":[20],"are":[22],"methods":[23],"dilating":[25],"the":[26,32,47,58,87,107,116,120,130,134,139],"free":[27,102],"space":[28],"and":[29,52,68,104,119],"determining":[31],"amount":[33,108],"of":[34,43,50,86,100,109,138],"needed.":[36,111],"This":[37],"paper":[38],"presents":[39],"new":[41,59,92],"method":[42,60,89,118],"by":[45],"shrinking":[46],"geometric":[48,126],"models":[49],"robots":[51],"obstacles.":[53],"Compared":[54],"with":[55,75],"existing":[56],"work,":[57],"more":[62],"efficient":[63],"both":[65,115],"running":[66],"time":[67],"memory":[69],"usage.":[70],"It":[71],"also":[73],"integrated":[74],"collision":[76],"checking,":[77],"key":[79],"operation":[80],"PRM":[82,93,146],"The":[84],"efficiency":[85],"enables":[90],"planner":[94,121,131],"which":[95],"quickly":[96],"constructs":[97],"series":[99],"dilated":[101],"spaces":[103],"automatically":[105],"determine":[106],"Experiments":[112],"show":[113],"that":[114],"work":[122],"well":[123],"complex":[125],"environments.":[127],"In":[128],"particular,":[129],"reliably":[132],"solved":[133],"most":[135],"difficult":[136],"version":[137],"alpha":[140],"puzzle,":[141],"benchmark":[143],"test":[144],"planners":[147]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}