{"id":"https://openalex.org/W3121903802","doi":"https://doi.org/10.1109/taes.2021.3054690","title":"Autonomous Ground Vehicle Path Planning in Urban Environments Using GNSS and Cellular Signals Reliability Maps: Models and Algorithms","display_name":"Autonomous Ground Vehicle Path Planning in Urban Environments Using GNSS and Cellular Signals Reliability Maps: Models and Algorithms","publication_year":2021,"publication_date":"2021-01-26","ids":{"openalex":"https://openalex.org/W3121903802","doi":"https://doi.org/10.1109/taes.2021.3054690","mag":"3121903802"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2021.3054690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3054690","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5005210108","display_name":"Sonya Ragothaman","orcid":"https://orcid.org/0000-0002-7936-4194"},"institutions":[{"id":"https://openalex.org/I169540460","display_name":"The Aerospace Corporation","ror":"https://ror.org/01ar9e455","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I169540460"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sonya Ragothaman","raw_affiliation_strings":["Aerospace Corporation, El Segundo, CA, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Corporation, El Segundo, CA, USA","institution_ids":["https://openalex.org/I169540460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053642377","display_name":"Mahdi Maaref","orcid":"https://orcid.org/0000-0003-0343-9337"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahdi Maaref","raw_affiliation_strings":["University of California, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051240427","display_name":"Zaher M. Kassas","orcid":"https://orcid.org/0000-0002-4388-6142"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zaher M. Kassas","raw_affiliation_strings":["University of California, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005210108"],"corresponding_institution_ids":["https://openalex.org/I169540460"],"apc_list":null,"apc_paid":null,"fwci":6.7994,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.96148399,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"57","issue":"3","first_page":"1562","last_page":"1580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9970999956130981,"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"}},"topics":[{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9970999956130981,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9805999994277954,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/gnss-applications","display_name":"GNSS applications","score":0.8128098249435425},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.6297903656959534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5768008828163147},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.5719692707061768},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5272219181060791},{"id":"https://openalex.org/keywords/pseudorange","display_name":"Pseudorange","score":0.5182135701179504},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5020079612731934},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.47449585795402527},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4606243968009949},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4458426535129547},{"id":"https://openalex.org/keywords/transmitter","display_name":"Transmitter","score":0.4383103847503662},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.42738786339759827},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.36391109228134155},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15835857391357422},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.1580081582069397}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8128098249435425},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.6297903656959534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5768008828163147},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.5719692707061768},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5272219181060791},{"id":"https://openalex.org/C174201072","wikidata":"https://www.wikidata.org/wiki/Q1187347","display_name":"Pseudorange","level":4,"score":0.5182135701179504},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5020079612731934},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.47449585795402527},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4606243968009949},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4458426535129547},{"id":"https://openalex.org/C47798520","wikidata":"https://www.wikidata.org/wiki/Q190157","display_name":"Transmitter","level":3,"score":0.4383103847503662},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.42738786339759827},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.36391109228134155},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15835857391357422},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.1580081582069397},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2021.3054690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2021.3054690","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4701727722","display_name":null,"funder_award_id":"1929965","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6447101443","display_name":null,"funder_award_id":"N00014-19-1-2613","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G748968134","display_name":null,"funder_award_id":"1929571","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W250076511","https://openalex.org/W1498519796","https://openalex.org/W1554944419","https://openalex.org/W1650566755","https://openalex.org/W1965392255","https://openalex.org/W1969483458","https://openalex.org/W1977182640","https://openalex.org/W1979154650","https://openalex.org/W1985643633","https://openalex.org/W2000253815","https://openalex.org/W2013798594","https://openalex.org/W2014877498","https://openalex.org/W2019423893","https://openalex.org/W2022583467","https://openalex.org/W2026425544","https://openalex.org/W2038166203","https://openalex.org/W2039530979","https://openalex.org/W2051093090","https://openalex.org/W2071552392","https://openalex.org/W2073595709","https://openalex.org/W2076080066","https://openalex.org/W2080156965","https://openalex.org/W2085299592","https://openalex.org/W2085535752","https://openalex.org/W2087845440","https://openalex.org/W2112308741","https://openalex.org/W2113243634","https://openalex.org/W2120706128","https://openalex.org/W2127878744","https://openalex.org/W2131390079","https://openalex.org/W2132639726","https://openalex.org/W2154621370","https://openalex.org/W2158267820","https://openalex.org/W2160107027","https://openalex.org/W2160222800","https://openalex.org/W2168058099","https://openalex.org/W2169528473","https://openalex.org/W2171033594","https://openalex.org/W2204296387","https://openalex.org/W2226765523","https://openalex.org/W2243705225","https://openalex.org/W2327737748","https://openalex.org/W2353775045","https://openalex.org/W2408952348","https://openalex.org/W2464328661","https://openalex.org/W2472946096","https://openalex.org/W2533272061","https://openalex.org/W2566091043","https://openalex.org/W2597144243","https://openalex.org/W2600045298","https://openalex.org/W2608425432","https://openalex.org/W2750839131","https://openalex.org/W2770225726","https://openalex.org/W2772439717","https://openalex.org/W2772639133","https://openalex.org/W2781561575","https://openalex.org/W2782474430","https://openalex.org/W2782654437","https://openalex.org/W2792200982","https://openalex.org/W2793438435","https://openalex.org/W2800960155","https://openalex.org/W2805186583","https://openalex.org/W2844111606","https://openalex.org/W2885320369","https://openalex.org/W2887226744","https://openalex.org/W2896020837","https://openalex.org/W2906229647","https://openalex.org/W2912615622","https://openalex.org/W2920707155","https://openalex.org/W2926358244","https://openalex.org/W2949679489","https://openalex.org/W2953098387","https://openalex.org/W2954592361","https://openalex.org/W2979830514","https://openalex.org/W2980250887","https://openalex.org/W2987780392","https://openalex.org/W2988196616","https://openalex.org/W3023321891","https://openalex.org/W3122961482","https://openalex.org/W6650514463","https://openalex.org/W6663248750","https://openalex.org/W6735145952","https://openalex.org/W6735559385","https://openalex.org/W6736828528","https://openalex.org/W6759937011","https://openalex.org/W6789170062"],"related_works":["https://openalex.org/W3216386610","https://openalex.org/W4239395258","https://openalex.org/W3204981892","https://openalex.org/W4380563814","https://openalex.org/W3130617165","https://openalex.org/W2904557485","https://openalex.org/W3198415914","https://openalex.org/W2772082021","https://openalex.org/W3084744931","https://openalex.org/W4387760931"],"abstract_inverted_index":{"In":[0],"this":[1,129],"article,":[2],"autonomous":[3],"ground":[4],"vehicle":[5,159],"(AGV)":[6],"path":[7,199,215,219,242,248],"planning":[8,200,243],"is":[9,13,77,123,136,180,183,204,209],"considered.":[10],"The":[11,62,75,158,241],"AGV":[12,63,76,95],"assumed":[14],"to":[15,25,34,47,67,97,148,165,185,195,211,225,236,264],"be":[16],"equipped":[17,79],"with":[18,80,250],"receivers":[19],"capable":[20],"of":[21,42,85,253],"producing":[22],"pseudorange":[23],"measurements":[24],"overhead":[26],"global":[27],"navigation":[28],"satellite":[29],"systems":[30],"(GNSS)":[31],"satellites":[32,259],"and":[33,115,221,231,256,260],"cellular":[35,44,153,261],"base":[36,262],"stations":[37,263],"in":[38,54,58],"its":[39,72],"environment.":[40,61,87],"Parameters":[41],"the":[43,48,86,94,105,110,118,161,167,176,191,213,218,227,246],"pseudoranges":[45,66],"related":[46],"transmitter":[49],"clock":[50],"bias":[51,193,234],"are":[52,156],"estimated":[53],"an":[55,59,69,187],"initialization":[56],"step":[57],"open-sky":[60],"fuses":[64],"these":[65,267],"produce":[68],"estimate":[70],"about":[71,142],"own":[73],"states.":[74],"also":[78],"a":[81,90,99,125,131,251],"three-dimensional":[82],"building":[83],"map":[84,135,164],"Starting":[88],"from":[89],"known":[91,100],"starting":[92],"point,":[93],"desires":[96],"reach":[98],"target":[101],"point":[102],"by":[103],"taking":[104],"shortest":[106],"distance,":[107],"while":[108,216],"minimizing":[109,217],"AGV's":[111,119,177,214],"position":[112,120,168,192,222,228,232],"estimation":[113,121,229,233],"error":[114,170],"guaranteeing":[116],"that":[117],"uncertainty":[122,230],"below":[124,238],"desired":[126,239],"threshold.":[127],"Toward":[128],"objective,":[130],"so-called":[132],"signal":[133,154,162],"reliability":[134,163],"first":[137],"generated,":[138],"which":[139,182,203],"provides":[140],"information":[141],"regions":[143],"where":[144],"large":[145],"errors":[146],"due":[147,194,235],"poor":[149],"GNSS":[150,258],"line-of-sight":[151],"or":[152],"multipath":[155,237],"expected.":[157],"uses":[160],"calculate":[166],"mean-squared":[169],"(MSE).":[171],"An":[172,197],"analytical":[173],"expression":[174],"for":[175],"state":[178],"estimates":[179],"derived,":[181],"used":[184],"find":[186],"upper":[188],"bound":[189],"on":[190,206],"multipath.":[196],"optimal":[198,247],"generation":[201],"approach,":[202],"based":[205],"Dijkstra's":[207],"algorithm,":[208],"developed":[210],"optimize":[212],"length":[220],"MSE,":[223],"subject":[224],"keeping":[226],"thresholds.":[240],"approach":[244],"yields":[245],"together":[249],"list":[252],"feasible":[254],"paths":[255],"reliable":[257],"use":[265],"along":[266],"paths.":[268]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}