{"id":"https://openalex.org/W4391308427","doi":"https://doi.org/10.1109/smc53992.2023.10393983","title":"Redundant Voronoi Roadmap Graph Using Imaginary Obstacles for Multi-Robot Path Planning","display_name":"Redundant Voronoi Roadmap Graph Using Imaginary Obstacles for Multi-Robot Path Planning","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4391308427","doi":"https://doi.org/10.1109/smc53992.2023.10393983"},"language":"en","primary_location":{"id":"doi:10.1109/smc53992.2023.10393983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10393983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5041334922","display_name":"Hanif A. Aryadi","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hanif A. Aryadi","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041280287","display_name":"Ranulfo Bezerra","orcid":"https://orcid.org/0000-0001-6017-5724"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ranulfo Bezerra","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Ohno","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062690346","display_name":"Kenta Gunji","orcid":"https://orcid.org/0000-0002-7924-2437"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenta Gunji","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101506282","display_name":"Shotaro Kojima","orcid":"https://orcid.org/0000-0003-0042-1764"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shotaro Kojima","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089630535","display_name":"Masao Kuwahara","orcid":"https://orcid.org/0000-0002-4970-8486"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masao Kuwahara","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073956776","display_name":"Yoshito Okada","orcid":"https://orcid.org/0000-0003-3830-079X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshito Okada","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Konyo","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Tohoku University,Japan","Tohoku University, Japan"],"affiliations":[{"raw_affiliation_string":"Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5041334922"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.2456,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.55758347,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1772","last_page":"1779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9509999752044678,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9271000027656555,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/voronoi-diagram","display_name":"Voronoi diagram","score":0.7870080471038818},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7821481227874756},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5835077166557312},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5737112760543823},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46651947498321533},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44003167748451233},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37455877661705017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3474893271923065},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2393849492073059},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21221593022346497},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09963634610176086}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.7870080471038818},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7821481227874756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5835077166557312},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5737112760543823},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46651947498321533},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44003167748451233},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37455877661705017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3474893271923065},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2393849492073059},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21221593022346497},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09963634610176086},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53992.2023.10393983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10393983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1967005434","https://openalex.org/W1973822627","https://openalex.org/W1976953317","https://openalex.org/W1989407213","https://openalex.org/W2039367092","https://openalex.org/W2069537876","https://openalex.org/W2542204002","https://openalex.org/W2592302389","https://openalex.org/W2903998385","https://openalex.org/W2913211223","https://openalex.org/W2949992533","https://openalex.org/W2955452256","https://openalex.org/W2965996200","https://openalex.org/W3004314649","https://openalex.org/W3014460461","https://openalex.org/W3044217012","https://openalex.org/W3087410845","https://openalex.org/W3154784371","https://openalex.org/W4220743041","https://openalex.org/W4385767575"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W2012380850","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Roadmap-based":[0],"path":[1,65,76,80,177],"planning":[2,77,178],"is":[3,17,26,66,132],"a":[4,20,114],"well-established":[5],"method":[6,149],"for":[7,28,34,59,82,134],"multi-robot":[8,75,135,176],"systems,":[9],"where":[10],"the":[11,15,50,53,98,110,123,128,139,165,184,187,191,199,204],"free":[12],"space":[13],"of":[14,52,71,127,141,160,167,186],"environment":[16],"represented":[18],"as":[19,62],"roadmap":[21,90,115,121,170,189,200],"graph.":[22],"The":[23],"Voronoi":[24,54,89,99,129,206],"diagram":[25,55,130],"known":[27],"its":[29,39],"efficiency":[30,166],"in":[31,153],"creating":[32],"roadmaps":[33,152],"single-robot":[35],"systems":[36,136],"due":[37,137],"to":[38,41,108,138,198],"ability":[40],"generate":[42,151],"paths":[43,95],"with":[44,116,157],"high":[45,124],"clearance":[46,125],"from":[47,97,203],"obstacles.":[48,72],"However,":[49],"design":[51],"does":[56],"not":[57],"allow":[58],"redundant":[60,88],"paths,":[61],"only":[63],"one":[64],"obtained":[67,201],"between":[68],"each":[69],"pair":[70],"In":[73,101],"contrast,":[74],"requires":[78],"multiple":[79,94],"options":[81],"efficient":[83],"solutions.":[84],"Therefore,":[85],"we":[86,104,163],"propose":[87],"graph,":[91],"which":[92],"incorporates":[93],"computed":[96],"diagram.":[100,207],"this":[102],"approach,":[103],"introduce":[105],"imaginary":[106],"obstacles":[107],"modify":[109],"costmap":[111],"and":[112,131,175,194],"obtain":[113],"more":[117],"paths.":[118],"Our":[119],"proposed":[120,169,188],"retains":[122],"feature":[126],"suitable":[133],"availability":[140],"alternative":[142],"route":[143],"options.":[144],"We":[145],"demonstrate":[146],"that":[147,183],"our":[148,168],"can":[150],"various":[154],"simulated":[155],"environments":[156],"different":[158],"levels":[159],"redundancy.":[161],"Additionally,":[162],"verify":[164],"graph":[171,173],"through":[172],"analysis":[174,181],"experiments.":[179],"Comparative":[180],"shows":[182],"use":[185],"increases":[190],"success":[192],"rate":[193],"solution":[195],"quality":[196],"compared":[197],"directly":[202],"conventional":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}