{"id":"https://openalex.org/W2092649904","doi":"https://doi.org/10.1109/robot.2010.5509679","title":"Path planning based on fluid mechanics for mobile robots using unstructured terrain models","display_name":"Path planning based on fluid mechanics for mobile robots using unstructured terrain models","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2092649904","doi":"https://doi.org/10.1109/robot.2010.5509679","mag":"2092649904"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5053859219","display_name":"David Gingras","orcid":null},"institutions":[{"id":"https://openalex.org/I2800055578","display_name":"Canadian Space Agency","ror":"https://ror.org/03a1gte98","country_code":"CA","type":"government","lineage":["https://openalex.org/I2800055578"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"David Gingras","raw_affiliation_strings":["Canadian Space Agency, Saint-Hubert, QUE, Canada","Space Technologies, Canadian Space Agency, Saint-Hubert, Qu\u00e9bec, J3Y 8Y9, Canada"],"affiliations":[{"raw_affiliation_string":"Canadian Space Agency, Saint-Hubert, QUE, Canada","institution_ids":["https://openalex.org/I2800055578"]},{"raw_affiliation_string":"Space Technologies, Canadian Space Agency, Saint-Hubert, Qu\u00e9bec, J3Y 8Y9, Canada","institution_ids":["https://openalex.org/I2800055578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108741530","display_name":"\u00c9rick Dupuis","orcid":null},"institutions":[{"id":"https://openalex.org/I2800055578","display_name":"Canadian Space Agency","ror":"https://ror.org/03a1gte98","country_code":"CA","type":"government","lineage":["https://openalex.org/I2800055578"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"E\u0301rick Dupuis","raw_affiliation_strings":["Canadian Space Agency, Saint-Hubert, QUE, Canada","Space Technologies, Canadian Space Agency, Saint-Hubert, Qu\u00e9bec, J3Y 8Y9, Canada"],"affiliations":[{"raw_affiliation_string":"Canadian Space Agency, Saint-Hubert, QUE, Canada","institution_ids":["https://openalex.org/I2800055578"]},{"raw_affiliation_string":"Space Technologies, Canadian Space Agency, Saint-Hubert, Qu\u00e9bec, J3Y 8Y9, Canada","institution_ids":["https://openalex.org/I2800055578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016601224","display_name":"G. Payre","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guy Payre","raw_affiliation_strings":["Faculty of Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","Faculty of Engineering, Universit\u00e9 de Sherbrooke, Qu\u00e9bec, J1K 2R1, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Faculty of Engineering, Universit\u00e9 de Sherbrooke, Qu\u00e9bec, J1K 2R1, Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076339393","display_name":"Jean de Lafontaine","orcid":null},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jean de Lafontaine","raw_affiliation_strings":["Faculty of Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","Fac. of Eng., Univ. de Sherbrooke, Sherbrooke, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Universit\u00e9 de Sherbrook, Sherbrooke, QUE, Canada","institution_ids":["https://openalex.org/I135117807"]},{"raw_affiliation_string":"Fac. of Eng., Univ. de Sherbrooke, Sherbrooke, QC, Canada","institution_ids":["https://openalex.org/I135117807"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053859219"],"corresponding_institution_ids":["https://openalex.org/I2800055578"],"apc_list":null,"apc_paid":null,"fwci":1.9372,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.87430334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"1978","last_page":"1984"},"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":0.9979000091552734,"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":0.9740999937057495,"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/motion-planning","display_name":"Motion planning","score":0.7471739053726196},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6944240927696228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6881594657897949},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6813678741455078},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5543137788772583},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5424336791038513},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.4966438412666321},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48797672986984253},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.48239147663116455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44779419898986816},{"id":"https://openalex.org/keywords/raised-relief-map","display_name":"Raised-relief map","score":0.4429110884666443},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4364808201789856},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3365333080291748},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.24637556076049805},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1538720726966858}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7471739053726196},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6944240927696228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6881594657897949},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6813678741455078},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5543137788772583},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5424336791038513},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.4966438412666321},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48797672986984253},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.48239147663116455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44779419898986816},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.4429110884666443},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4364808201789856},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3365333080291748},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.24637556076049805},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1538720726966858},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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":1,"locations":[{"id":"doi:10.1109/robot.2010.5509679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334436","display_name":"Canadian Space Agency","ror":"https://ror.org/03a1gte98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W49197483","https://openalex.org/W101508493","https://openalex.org/W1481947602","https://openalex.org/W1551331992","https://openalex.org/W2071067499","https://openalex.org/W2103120971","https://openalex.org/W2103383932","https://openalex.org/W2109911863","https://openalex.org/W2113286054","https://openalex.org/W2117084995","https://openalex.org/W2131904106","https://openalex.org/W2135682541","https://openalex.org/W2153612202","https://openalex.org/W2154722715","https://openalex.org/W2160032073","https://openalex.org/W2235901111","https://openalex.org/W2401439426","https://openalex.org/W2999099762","https://openalex.org/W4242811155","https://openalex.org/W4247582681","https://openalex.org/W6602019370","https://openalex.org/W6712746677"],"related_works":["https://openalex.org/W1557607869","https://openalex.org/W2366350639","https://openalex.org/W2087496541","https://openalex.org/W2028455732","https://openalex.org/W4313703117","https://openalex.org/W2085564391","https://openalex.org/W1984758362","https://openalex.org/W2042049060","https://openalex.org/W2992936613","https://openalex.org/W2108615321"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"using":[2],"a":[3,25,55,79,93,149],"360\u00b0":[4],"field":[5],"of":[6,21,39,134],"view":[7],"LIDAR":[8,145],"ranging":[9],"sensor":[10],"can":[11,27,41,49],"generate":[12],"enormous":[13],"3D":[14],"point":[15],"clouds.":[16],"To":[17,130],"reduce":[18],"the":[19,46,73,97,103,111,124,132,135,137],"quantity":[20],"data":[22],"in":[23,148],"memory":[24],"compression":[26],"lead":[28],"to":[29,64,77],"unstructured":[30,67],"environment":[31],"models":[32],"such":[33],"as":[34,92],"irregular":[35],"meshes.":[36],"This":[37,52],"kind":[38],"structure":[40],"contain":[42],"deformed":[43],"cells":[44],"and":[45,96,121],"path":[47,56,99,138],"planning":[48,57],"be":[50],"cumbersome.":[51],"paper":[53],"presents":[54],"method":[58,76],"based":[59],"on":[60,110,143],"fluid":[61],"mechanics":[62],"able":[63],"deal":[65],"with":[66],"terrain":[68],"models.":[69],"The":[70,106],"algorithm":[71],"uses":[72],"finite":[74],"element":[75],"compute":[78],"velocity":[80],"potential":[81],"function":[82],"free":[83],"from":[84],"local":[85],"minima.":[86],"Then,":[87],"several":[88],"streamlines":[89],"are":[90],"computed":[91],"road":[94],"map":[95],"optimal":[98],"is":[100,108],"selected":[101],"among":[102],"candidate":[104],"paths.":[105],"approach":[107],"implemented":[109],"Canadian":[112],"Space":[113],"Agency":[114],"(CSA)":[115],"Mars":[116,126],"Robotics":[117],"Testbed":[118],"(MRT)":[119],"rover":[120],"tested":[122,142],"at":[123],"CSA":[125],"Emulation":[127],"Terrain":[128],"(MET).":[129],"confirm":[131],"feasibility":[133],"method,":[136],"planner":[139],"has":[140],"been":[141],"284":[144],"scans":[146],"collected":[147],"realistic":[150],"outdoor":[151],"challenging":[152],"terrain.":[153]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}