{"id":"https://openalex.org/W2114317288","doi":"https://doi.org/10.1109/robot.2009.5152883","title":"Dynamic path planning with multi-agent data fusion - The Parallel Hierarchical Replanner","display_name":"Dynamic path planning with multi-agent data fusion - The Parallel Hierarchical Replanner","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2114317288","doi":"https://doi.org/10.1109/robot.2009.5152883","mag":"2114317288"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5039883645","display_name":"Trevor Allen","orcid":"https://orcid.org/0000-0002-3911-7914"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"T. Allen","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Australia","Australian Centre for field Robotics, University of Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027789615","display_name":"Andrew J. Hill","orcid":"https://orcid.org/0000-0001-9297-4256"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A. Hill","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Australia","Australian Centre for field Robotics, University of Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031525913","display_name":"James Underwood","orcid":"https://orcid.org/0000-0003-0189-0706"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"J. Underwood","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Australia","Australian Centre for field Robotics, University of Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110219276","display_name":"Steve Scheding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"S. Scheding","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, Australia","Australian Centre for field Robotics, University of Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Australian Centre for field Robotics, University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039883645"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":1.2943,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82507581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5422","issue":null,"first_page":"3245","last_page":"3250"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9939000010490417,"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/computer-science","display_name":"Computer science","score":0.7507703304290771},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.568148136138916},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5627632141113281},{"id":"https://openalex.org/keywords/hierarchical-database-model","display_name":"Hierarchical database model","score":0.5241425633430481},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5172117948532104},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.48721712827682495},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.47720369696617126},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.47594189643859863},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.2216646373271942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19164204597473145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1031273603439331}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7507703304290771},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.568148136138916},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5627632141113281},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.5241425633430481},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5172117948532104},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.48721712827682495},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.47720369696617126},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.47594189643859863},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2216646373271942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19164204597473145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1031273603439331},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2003708116","https://openalex.org/W2066852548","https://openalex.org/W2067411410","https://openalex.org/W2081794857","https://openalex.org/W2097856935","https://openalex.org/W2102529540","https://openalex.org/W2139552458","https://openalex.org/W2167683317","https://openalex.org/W2611243847","https://openalex.org/W6675401058"],"related_works":["https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039","https://openalex.org/W2726747157","https://openalex.org/W2004817612","https://openalex.org/W2010131506","https://openalex.org/W2145797872","https://openalex.org/W2067790096"],"abstract_inverted_index":{"The":[0],"design":[1],"of":[2,74],"a":[3,70],"hierarchical":[4,25,54],"planning":[5],"system":[6],"in":[7,12,38,63,89],"which":[8,58,64],"each":[9],"level":[10],"operates":[11],"parallel":[13,24],"and":[14,30],"communicates":[15],"asynchronously":[16],"is":[17,20,27,43,56,73],"presented.":[18],"It":[19],"shown":[21],"that":[22,60],"this":[23,81],"replanner":[26],"both":[28],"reactive,":[29],"as":[31,42],"close":[32],"to":[33,68],"optimal":[34],"over":[35],"all":[36],"information":[37],"the":[39,65,78,90],"state":[40],"space":[41],"possible":[44],"given":[45],"finite":[46],"computational":[47],"power.":[48],"A":[49],"comparison":[50],"with":[51],"three":[52],"other":[53],"methods":[55,88],"presented,":[57],"demonstrates":[59],"for":[61],"scenarios":[62],"time":[66],"taken":[67],"achieve":[69],"mission":[71],"goal":[72],"greater":[75],"importance":[76],"than":[77,86],"cost":[79],"incurred,":[80],"approach":[82],"has":[83],"better":[84],"performance":[85],"related":[87],"literature.":[91]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}