{"id":"https://openalex.org/W2138859646","doi":"https://doi.org/10.1109/robot.2008.4543339","title":"Backbone-based roadmaps for robot navigation in sensor networks","display_name":"Backbone-based roadmaps for robot navigation in sensor networks","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2138859646","doi":"https://doi.org/10.1109/robot.2008.4543339","mag":"2138859646"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018513179","display_name":"Zhenwang Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhenwang Yao","raw_affiliation_strings":["Robotic Algorithms and Motion Planning (RAMP) Lab, School of Engineering Science, Simon Fraser University, Canada","Robotic Algorithms & Motion Planning (RAMP) Lab., Simon Fraser Univ., Burnaby, BC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Algorithms and Motion Planning (RAMP) Lab, School of Engineering Science, Simon Fraser University, Canada","institution_ids":["https://openalex.org/I18014758"]},{"raw_affiliation_string":"Robotic Algorithms & Motion Planning (RAMP) Lab., Simon Fraser Univ., Burnaby, BC","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal Gupta","raw_affiliation_strings":["Robotic Algorithms and Motion Planning (RAMP) Lab, School of Engineering Science, Simon Fraser University, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Algorithms and Motion Planning (RAMP) Lab, School of Engineering Science, Simon Fraser University, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I18014758"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"1023","last_page":"1029"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9977999925613403,"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":0.7579635977745056},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6620707511901855},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.6585635542869568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6447291970252991},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5394322276115417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5315425395965576},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5275378227233887},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4984147548675537},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.49048206210136414},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4477095305919647},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38926059007644653},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.38304412364959717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2539520859718323},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.12428295612335205},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.06787452101707458},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06440538167953491}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7579635977745056},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6620707511901855},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.6585635542869568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6447291970252991},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5394322276115417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5315425395965576},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5275378227233887},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4984147548675537},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.49048206210136414},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4477095305919647},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38926059007644653},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.38304412364959717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2539520859718323},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.12428295612335205},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.06787452101707458},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06440538167953491},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W77769772","https://openalex.org/W101508493","https://openalex.org/W151467418","https://openalex.org/W201329864","https://openalex.org/W1528986717","https://openalex.org/W1540132677","https://openalex.org/W1970026476","https://openalex.org/W2011039300","https://openalex.org/W2032288350","https://openalex.org/W2056017162","https://openalex.org/W2098502330","https://openalex.org/W2098846072","https://openalex.org/W2107890270","https://openalex.org/W2110410941","https://openalex.org/W2111121657","https://openalex.org/W2113829484","https://openalex.org/W2122231835","https://openalex.org/W2128990851","https://openalex.org/W2146417222","https://openalex.org/W2163975141","https://openalex.org/W2166644802","https://openalex.org/W2167398254","https://openalex.org/W2223243935","https://openalex.org/W4242811155","https://openalex.org/W6606140896","https://openalex.org/W6678152591"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2083994890","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0,26],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,14,24,59,62,88],"distributed":[6],"path":[7,34,73,90,110,115],"planning":[8],"method":[9,19,86],"for":[10],"robot":[11],"navigation":[12,63],"amidst":[13],"wireless":[15],"sensor":[16],"network.":[17],"Our":[18],"uses":[20],"communication":[21,93],"backbone":[22],"as":[23,80],"roadmap.":[25],"building":[27],"and":[28,36,41,49,70,95],"maintaining":[29],"the":[30,43,68,71,109],"roadmap,":[31],"it":[32,99],"takes":[33],"safety":[35],"network":[37,55],"longevity":[38],"into":[39],"account,":[40],"therefore":[42],"roadmap":[44,69],"adapts":[45],"to":[46,53,82],"dynamic":[47],"dangers":[48],"evolves":[50],"over":[51,67],"time":[52],"increase":[54],"longevity.":[56],"To":[57],"find":[58],"safe":[60,89],"path,":[61],"field":[64],"is":[65,74],"propagated":[66],"shortest":[72],"computed.":[75],"Simulation":[76],"results":[77],"show":[78],"that":[79],"compared":[81],"existing":[83],"methods":[84],"our":[85],"finds":[87],"with":[91],"less":[92],"cost,":[94],"in":[96,112],"dense":[97],"networks":[98],"generates":[100],"smaller":[101],"roadmaps.":[102],"We":[103],"also":[104],"provide":[105],"theoretical":[106],"bounds":[107],"on":[108],"quality":[111],"terms":[113],"of":[114],"length.":[116]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
