{"id":"https://openalex.org/W2435245948","doi":"https://doi.org/10.1109/syscon.2016.7490515","title":"Motion planning for AmigoBot with line-segment-based map and Voronoi diagram","display_name":"Motion planning for AmigoBot with line-segment-based map and Voronoi diagram","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2435245948","doi":"https://doi.org/10.1109/syscon.2016.7490515","mag":"2435245948"},"language":"en","primary_location":{"id":"doi:10.1109/syscon.2016.7490515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2016.7490515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 Annual IEEE Systems Conference (SysCon)","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/A5103175086","display_name":"Qing Hui","orcid":"https://orcid.org/0000-0001-9488-5257"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qing Hui","raw_affiliation_strings":["School of Electrical Engineering, University of Jinan, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, University of Jinan, Jinan, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101738859","display_name":"Jin Cheng","orcid":"https://orcid.org/0000-0003-0378-0092"},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jin Cheng","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Nebraska-Lincoln, Lincoln, NE"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Nebraska-Lincoln, Lincoln, NE","institution_ids":["https://openalex.org/I114395901"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103175086"],"corresponding_institution_ids":["https://openalex.org/I34949971"],"apc_list":null,"apc_paid":null,"fwci":0.501,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71579371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.940036416053772},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8070653676986694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6651744246482849},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5960357189178467},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.5886986255645752},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5790703296661377},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5631830096244812},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.5217683911323547},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4922548830509186},{"id":"https://openalex.org/keywords/diagram","display_name":"Diagram","score":0.4811321794986725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47883251309394836},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.46748656034469604},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44506287574768066},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4100829064846039},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36370670795440674},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21426084637641907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14641982316970825},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10839042067527771},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.07012754678726196}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.940036416053772},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8070653676986694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6651744246482849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5960357189178467},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.5886986255645752},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5790703296661377},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5631830096244812},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.5217683911323547},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4922548830509186},{"id":"https://openalex.org/C186399060","wikidata":"https://www.wikidata.org/wiki/Q959962","display_name":"Diagram","level":2,"score":0.4811321794986725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47883251309394836},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.46748656034469604},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44506287574768066},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4100829064846039},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36370670795440674},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21426084637641907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14641982316970825},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10839042067527771},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.07012754678726196},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon.2016.7490515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon.2016.7490515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 Annual IEEE Systems Conference (SysCon)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W180909918","https://openalex.org/W1424654272","https://openalex.org/W1630437312","https://openalex.org/W1965440866","https://openalex.org/W1967005434","https://openalex.org/W1998068155","https://openalex.org/W2003134525","https://openalex.org/W2003258311","https://openalex.org/W2008986938","https://openalex.org/W2018756727","https://openalex.org/W2070164574","https://openalex.org/W2103404435","https://openalex.org/W2118608021","https://openalex.org/W2131313540","https://openalex.org/W2135855651","https://openalex.org/W2140171877","https://openalex.org/W2141968974","https://openalex.org/W2143064560","https://openalex.org/W2143102370","https://openalex.org/W2172232420","https://openalex.org/W2189076595","https://openalex.org/W2499563195","https://openalex.org/W4251391716","https://openalex.org/W6680890533"],"related_works":["https://openalex.org/W3209137076","https://openalex.org/W4223969905","https://openalex.org/W2374560440","https://openalex.org/W1490490684","https://openalex.org/W4221129498","https://openalex.org/W2887026015","https://openalex.org/W2361442013","https://openalex.org/W2373384475","https://openalex.org/W4310124294","https://openalex.org/W143403600"],"abstract_inverted_index":{"The":[0,62,83],"motion":[1,122],"planning":[2,123],"problem":[3],"for":[4,134],"an":[5,135],"AmigoBot":[6,136],"with":[7,58,67,105],"only":[8],"sonar":[9,25],"sensors":[10],"is":[11,19,56,65,87,108,117,132],"addressed":[12],"in":[13,142],"this":[14],"paper.":[15],"A":[16,115],"line-segment-based":[17,54],"map":[18,37,55],"constructed":[20],"incrementally":[21],"from":[22,76],"readings":[23],"of":[24,35,52,85,93],"sensors.":[26],"Map-building":[27],"algorithms":[28],"are":[29,98],"proposed":[30],"to":[31,70,80,89,110,119,137],"reduce":[32],"the":[33,36,40,46,49,53,72,77,81,91,94,112,127,139],"size":[34],"while":[38],"maintaining":[39],"complete":[41],"and":[42,126],"accurate":[43],"information":[44],"about":[45],"environment.":[47],"Then":[48],"Voronoi":[50,63],"diagram":[51,64],"generated":[57],"Fortune's":[59],"sweep-line":[60],"algorithm.":[61],"searched":[66],"Dijkstras":[68],"algorithm":[69],"determine":[71],"shortest":[73],"accessible":[74],"path":[75,95],"initial":[78],"configuration":[79],"goal.":[82],"notion":[84],"clearance":[86],"defined":[88],"guarantee":[90],"safety":[92],"when":[96],"obstacles":[97],"encountered.":[99],"Finally,":[100],"a":[101],"path-tracking":[102],"control":[103],"law":[104],"line-of-sight":[106],"approach":[107,124],"designed":[109,125],"follow":[111],"reference":[113],"path.":[114],"simulation":[116],"conducted":[118],"verify":[120],"that":[121,130],"results":[128],"show":[129],"it":[131],"effective":[133],"accomplish":[138],"given":[140],"task":[141],"unknown":[143],"environments.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
