{"id":"https://openalex.org/W2580509961","doi":"https://doi.org/10.1109/tase.2016.2638208","title":"Homotopy Path Planning for Terrestrial Robots Using Spherical Algorithm","display_name":"Homotopy Path Planning for Terrestrial Robots Using Spherical Algorithm","publication_year":2017,"publication_date":"2017-01-24","ids":{"openalex":"https://openalex.org/W2580509961","doi":"https://doi.org/10.1109/tase.2016.2638208","mag":"2580509961"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2016.2638208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2638208","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5013071090","display_name":"G. Diaz-Arango","orcid":"https://orcid.org/0000-0002-8144-6615"},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Gerardo Diaz-Arango","raw_affiliation_strings":["Electronics Department, National Institute for Astrophysics, Optics and Electronics, Puebla, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, National Institute for Astrophysics, Optics and Electronics, Puebla, M\u00e9xico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004649966","display_name":"H\u00e9ctor V\u00e1zquez-Leal","orcid":"https://orcid.org/0000-0002-7785-5272"},"institutions":[{"id":"https://openalex.org/I147280213","display_name":"Universidad Veracruzana","ror":"https://ror.org/03efxn362","country_code":"MX","type":"education","lineage":["https://openalex.org/I147280213"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Hector Vazquez-Leal","raw_affiliation_strings":["Electronic Instrumentation and Atmospheric Sciences School, Universidad Veracruzana, Veracruz, M\u00e9xico"],"raw_orcid":"https://orcid.org/0000-0002-7785-5272","affiliations":[{"raw_affiliation_string":"Electronic Instrumentation and Atmospheric Sciences School, Universidad Veracruzana, Veracruz, M\u00e9xico","institution_ids":["https://openalex.org/I147280213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021660565","display_name":"Luis Hern\u00e1ndez-Mart\u00ednez","orcid":"https://orcid.org/0000-0001-7178-7929"},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Luis Hernandez-Martinez","raw_affiliation_strings":["Electronics Department, National Institute for Astrophysics, Optics and Electronics, Puebla, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, National Institute for Astrophysics, Optics and Electronics, Puebla, M\u00e9xico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025165034","display_name":"M.T. Sanz","orcid":"https://orcid.org/0000-0002-5820-7608"},"institutions":[{"id":"https://openalex.org/I39824353","display_name":"National Institute of Astrophysics, Optics and Electronics","ror":"https://ror.org/00bpmmc63","country_code":"MX","type":"facility","lineage":["https://openalex.org/I39824353"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Maria Teresa Sanz Pascual","raw_affiliation_strings":["Electronics Department, National Institute for Astrophysics, Optics and Electronics, Puebla, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics Department, National Institute for Astrophysics, Optics and Electronics, Puebla, M\u00e9xico","institution_ids":["https://openalex.org/I39824353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044961495","display_name":"Mario A. Sandoval-Hernandez","orcid":"https://orcid.org/0000-0002-5518-3858"},"institutions":[{"id":"https://openalex.org/I4210146858","display_name":"Instituto Tecnol\u00f3gico de Veracruz","ror":"https://ror.org/05gwc3q21","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210146858","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Mario Sandoval-Hernandez","raw_affiliation_strings":["Centro de Bachillerato Tecnol\u00f3gico Industrial y de Servicios, Veracruz, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Bachillerato Tecnol\u00f3gico Industrial y de Servicios, Veracruz, M\u00e9xico","institution_ids":["https://openalex.org/I4210146858"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2008,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.87004631,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"2","first_page":"567","last_page":"585"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8782051205635071},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7454226016998291},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6825206279754639},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5624790191650391},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.548875629901886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5285443663597107},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.46241116523742676},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.42879390716552734},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.403172105550766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33489081263542175},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32106178998947144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31508153676986694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3013783097267151},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2265455722808838}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8782051205635071},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7454226016998291},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6825206279754639},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5624790191650391},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.548875629901886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5285443663597107},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.46241116523742676},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.42879390716552734},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.403172105550766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33489081263542175},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32106178998947144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31508153676986694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3013783097267151},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2265455722808838},{"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/tase.2016.2638208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2638208","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1548726636","https://openalex.org/W1580284335","https://openalex.org/W1605811565","https://openalex.org/W1836948486","https://openalex.org/W1849841112","https://openalex.org/W1919435130","https://openalex.org/W1970495007","https://openalex.org/W1971086298","https://openalex.org/W2000469185","https://openalex.org/W2017085520","https://openalex.org/W2018285744","https://openalex.org/W2029279869","https://openalex.org/W2042398689","https://openalex.org/W2052463124","https://openalex.org/W2055201760","https://openalex.org/W2060894416","https://openalex.org/W2063877571","https://openalex.org/W2069710460","https://openalex.org/W2075950107","https://openalex.org/W2090714453","https://openalex.org/W2103120971","https://openalex.org/W2110762409","https://openalex.org/W2118311309","https://openalex.org/W2129249436","https://openalex.org/W2139169966","https://openalex.org/W2141664020","https://openalex.org/W2146881125","https://openalex.org/W2150982344","https://openalex.org/W2166885897","https://openalex.org/W2197773121","https://openalex.org/W2205533919","https://openalex.org/W3098336417","https://openalex.org/W3104753760","https://openalex.org/W4246721524","https://openalex.org/W4252031641","https://openalex.org/W6635015296","https://openalex.org/W6682517698"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2908094156","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"Autonomous":[0],"and":[1,51,67,87,100,113,134],"semiautonomous":[2],"mobile":[3,61],"robots":[4,31],"play":[5],"an":[6,41],"important":[7],"role":[8],"in":[9,12,33,127],"making":[10],"tasks":[11],"environments":[13],"considered":[14],"hostile":[15],"or":[16],"dangerous":[17],"for":[18,56],"a":[19,36,54,60,64,76,131,145],"human":[20],"being.":[21],"In":[22],"order":[23],"to":[24],"execute":[25],"many":[26],"of":[27,38,53,59,108,116],"the":[28,49,82,97,105,114,117,148,155],"required":[29],"tasks,":[30],"need,":[32],"its":[34,101],"architecture,":[35],"module":[37],"navigation":[39],"with":[40],"appropriate":[42],"path":[43,57,84,89],"planning":[44,58,85,158],"algorithm.":[45],"This":[46],"paper":[47,110],"presents":[48],"development":[50],"implementation":[52,125],"methodology":[55,150],"robot":[62,135],"using":[63,154],"spherical":[65,88],"algorithm":[66,91],"homotopy":[68,83],"continuation":[69],"methods":[70],"(HCMs).":[71],"The":[72],"first":[73],"section":[74],"is":[75,120],"brief":[77],"introduction":[78],"about":[79],"HCMs.":[80],"Subsequently,":[81],"method":[86,119],"tracking":[90],"are":[92,111,138,160],"explained,":[93],"as":[94,96],"well":[95],"upgraded":[98],"version":[99],"main":[102,106],"features.":[103],"Then,":[104],"contributions":[107],"this":[109],"presented":[112],"effectiveness":[115],"proposed":[118,149],"proved.":[121],"Besides,":[122],"numerical":[123],"examples,":[124],"results":[126,143],"multiple":[128],"platforms":[129],"including":[130],"32b":[132],"microcontroller":[133],"operating":[136],"system,":[137],"displayed.":[139],"Finally,":[140],"some":[141],"favorable":[142],"from":[144],"comparative":[146],"between":[147],"against":[151],"sampling-based":[152],"planners":[153],"open":[156],"motion":[157],"library":[159],"presented.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
