{"id":"https://openalex.org/W7082658809","doi":"https://doi.org/10.1109/tase.2025.3612949","title":"RoA-Planner: Rotatable Area-Based Path Planner in Dense Spaces","display_name":"RoA-Planner: Rotatable Area-Based Path Planner in Dense Spaces","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7082658809","doi":"https://doi.org/10.1109/tase.2025.3612949"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3612949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3612949","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":null,"display_name":"Yeongwoo Son","orcid":"https://orcid.org/0009-0007-1251-9415"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yeongwoo Son","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hyunyong Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunyong Lee","raw_affiliation_strings":["AIDIN ROBOTICS Inc., Anyang, South Korea"],"affiliations":[{"raw_affiliation_string":"AIDIN ROBOTICS Inc., Anyang, South Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hansol Kang","orcid":"https://orcid.org/0000-0002-8672-2359"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hansol Kang","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiman Park","orcid":"https://orcid.org/0009-0006-9410-192X"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jiman Park","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Seongwon Nam","orcid":"https://orcid.org/0009-0004-1600-7845"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongwon Nam","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jaeyoung Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeyoung Oh","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bumsu Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bumsu Yi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Junha Song","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junha Song","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sooyeon Choi","orcid":"https://orcid.org/0009-0002-9359-7848"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sooyeon Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bogeun Kim","orcid":"https://orcid.org/0009-0001-0360-0832"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bogeun Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daegeun Song","orcid":"https://orcid.org/0009-0001-8459-1084"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daegeun Song","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":12,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6956838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"23715","last_page":"23729"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.3779999911785126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.3779999911785126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13177","display_name":"Geological and Geophysical Studies","score":0.05469999834895134,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13067","display_name":"Geological Modeling and Analysis","score":0.028699999675154686,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8748999834060669},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7716000080108643},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6852999925613403},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6814000010490417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6583999991416931},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4945000112056732},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4885999858379364}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8748999834060669},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7716000080108643},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6852999925613403},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6814000010490417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6583999991416931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.574400007724762},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4945000112056732},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4885999858379364},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.35040000081062317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3441999852657318},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.337799996137619},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30309998989105225},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2777000069618225},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.266400009393692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2662000060081482},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26339998841285706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3612949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3612949","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":[{"score":0.5517438650131226,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2008196645","https://openalex.org/W2065499315","https://openalex.org/W2345626358","https://openalex.org/W2609009256","https://openalex.org/W2755158994","https://openalex.org/W2809054577","https://openalex.org/W2913995178","https://openalex.org/W3006552748","https://openalex.org/W3034811151","https://openalex.org/W3114626444","https://openalex.org/W3127756416","https://openalex.org/W3129245057","https://openalex.org/W3130764402","https://openalex.org/W3135067689","https://openalex.org/W3164399840","https://openalex.org/W3195037499","https://openalex.org/W3205275030","https://openalex.org/W3207399992","https://openalex.org/W3207644545","https://openalex.org/W3211426118","https://openalex.org/W4224292538","https://openalex.org/W4233654529","https://openalex.org/W4253729359","https://openalex.org/W4254986337","https://openalex.org/W4282599924","https://openalex.org/W4283573899","https://openalex.org/W4312441173","https://openalex.org/W4360976217","https://openalex.org/W4361222322","https://openalex.org/W4385430650","https://openalex.org/W4386156806","https://openalex.org/W4386432245","https://openalex.org/W4386432311","https://openalex.org/W4389665904","https://openalex.org/W4401415339","https://openalex.org/W4401567520","https://openalex.org/W4404317239","https://openalex.org/W4405974656"],"related_works":[],"abstract_inverted_index":{"Path":[0],"planning":[1,68,97],"in":[2,70,84],"obstacle-dense":[3],"environments":[4],"is":[5],"a":[6,22,27,32,66],"challenging":[7],"problem,":[8,19],"particularly":[9],"for":[10,107],"robots":[11],"with":[12,44],"asymmetric":[13],"rectangular":[14],"footprints.":[15],"To":[16],"address":[17],"this":[18,61],"we":[20,54],"propose":[21],"novel":[23],"collision-checking":[24],"approach,":[25],"called":[26],"Rotatable":[28],"Area,":[29],"which":[30],"represents":[31],"range":[33],"of":[34],"heading":[35],"angles":[36],"where":[37],"the":[38,48,64],"robot":[39],"can":[40],"rotate":[41],"without":[42],"colliding":[43],"obstacles.":[45],"Based":[46],"on":[47],"relationship":[49],"between":[50],"two":[51],"rotatable":[52],"areas,":[53],"define":[55],"safe":[56],"local":[57],"motion":[58],"and":[59,81,86,102],"extend":[60],"concept":[62],"to":[63],"RoA-Planner,":[65],"path":[67],"framework":[69],"SE(2)":[71],"dense":[72],"space.":[73],"We":[74],"validate":[75],"our":[76,93],"planner":[77],"through":[78],"extensive":[79],"simulations":[80],"real-world":[82],"experiments":[83],"complex":[85],"narrow":[87],"environments.":[88],"The":[89],"results":[90],"demonstrate":[91],"that":[92],"method":[94],"achieves":[95],"fast":[96],"speed":[98],"while":[99],"ensuring":[100],"safety":[101],"robustness,":[103],"making":[104],"it":[105],"suitable":[106],"practical":[108],"applications.":[109]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}