{"id":"https://openalex.org/W2128978595","doi":"https://doi.org/10.1109/robot.2008.4543784","title":"Efficient path planning for mobile robots in environments with deformable objects","display_name":"Efficient path planning for mobile robots in environments with deformable objects","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2128978595","doi":"https://doi.org/10.1109/robot.2008.4543784","mag":"2128978595"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543784","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":"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/A5102990811","display_name":"Barbara Frank","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Barbara Frank","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009707808","display_name":"Markus M. Becker","orcid":"https://orcid.org/0000-0001-9324-3236"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Becker","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110254982","display_name":"Matthias Teschner","orcid":"https://orcid.org/0000-0002-4214-3996"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Teschner","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","Dept. of Comput. Sci., Univ. of Freiburg, Freiburg"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of Freiburg, Freiburg","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102990811"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":3.1607,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.92403769,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3737","last_page":"3742"},"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":0.994700014591217,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.7989937663078308},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7347041368484497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7170616388320923},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6373176574707031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6180812120437622},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6091418266296387},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5816572308540344},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5332037806510925},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5233304500579834},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4884628355503082},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.46547433733940125},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45355919003486633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.417961061000824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41498544812202454},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.37143605947494507},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34753063321113586},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13638871908187866}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.7989937663078308},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7347041368484497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7170616388320923},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6373176574707031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6180812120437622},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6091418266296387},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5816572308540344},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5332037806510925},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5233304500579834},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4884628355503082},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.46547433733940125},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45355919003486633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.417961061000824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41498544812202454},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37143605947494507},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34753063321113586},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13638871908187866},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543784","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W852449","https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1497695555","https://openalex.org/W1561021726","https://openalex.org/W1604206505","https://openalex.org/W1843610707","https://openalex.org/W2053407718","https://openalex.org/W2096619076","https://openalex.org/W2104171123","https://openalex.org/W2105289524","https://openalex.org/W2116039148","https://openalex.org/W2116162693","https://openalex.org/W2119984419","https://openalex.org/W2124140750","https://openalex.org/W2127794343","https://openalex.org/W2128990851","https://openalex.org/W2130680135","https://openalex.org/W2135521054","https://openalex.org/W2139329929","https://openalex.org/W2141654056","https://openalex.org/W2400095606","https://openalex.org/W2611243847","https://openalex.org/W2751318774","https://openalex.org/W3152259966","https://openalex.org/W4236288244","https://openalex.org/W4242811155","https://openalex.org/W4386972570","https://openalex.org/W6600030745","https://openalex.org/W6636130414","https://openalex.org/W6675438335","https://openalex.org/W6677291438","https://openalex.org/W6677702289","https://openalex.org/W6679934385","https://openalex.org/W6713070174"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2134348961","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W4308217561"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,51,66,108,122,136,160,178],"reliably":[3],"navigate":[4],"through":[5,130],"the":[6,21,57,60,64,80,84,89,124,131,138,142,152,161,170,176],"environment":[7],"is":[8,134],"an":[9,38,101],"important":[10],"prerequisite":[11],"for":[12,78,114],"truly":[13],"autonomous":[14],"robots.":[15],"In":[16],"this":[17,93],"paper,":[18],"we":[19,99],"consider":[20],"problem":[22],"of":[23,48,88,127],"path":[24,54],"planning":[25],"in":[26,182],"environments":[27,183],"with":[28,44,184],"non-rigid":[29],"obstacles":[30],"such":[31],"as":[32],"curtains":[33],"or":[34],"plants.":[35],"We":[36,69,146],"present":[37,100,147],"approach":[39,73,174],"that":[40,55,103,151,163],"combines":[41],"probabilistic":[42],"roadmaps":[43],"a":[45,53,105,110],"physical":[46],"simulation":[47,91],"object":[49],"deformations":[50],"determine":[52,109],"optimizes":[56],"trade-off":[58],"between":[59],"deformation":[61,81,111,125],"cost":[62,112,118],"and":[63,133],"distance":[65],"be":[67],"traveled.":[68],"describe":[70],"how":[71],"our":[72,173],"utilizes":[74],"Finite":[75],"Element":[76],"theory":[77],"calculating":[79],"cost.":[82],"Since":[83],"high":[85],"computational":[86],"requirements":[87],"corresponding":[90],"prevent":[92],"method":[94,162],"from":[95],"being":[96],"applicable":[97],"online,":[98],"approximation":[102],"uses":[104],"preprocessing":[106],"step":[107],"function":[113,119],"each":[115],"object.":[116],"This":[117],"allows":[120,175],"us":[121],"estimate":[123],"costs":[126],"arbitrary":[128],"paths":[129,181],"objects":[132],"used":[135],"evaluate":[137],"trajectories":[139,158],"generated":[140],"by":[141],"roadmap":[143],"planner":[144],"online.":[145],"experiments":[148],"which":[149],"demonstrate":[150],"resulting":[153],"algorithm":[154],"plans":[155],"nearly":[156],"identical":[157],"compared":[159],"relies":[164],"on":[165],"computationally":[166],"intense":[167],"simulations.":[168],"At":[169],"same":[171],"time,":[172],"robot":[177],"quickly":[179],"calculate":[180],"deformable":[185],"objects.":[186]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}