{"id":"https://openalex.org/W4382203478","doi":"https://doi.org/10.1109/tro.2023.3279029","title":"Creating Star Worlds: Reshaping the Robot Workspace for Online Motion Planning","display_name":"Creating Star Worlds: Reshaping the Robot Workspace for Online Motion Planning","publication_year":2023,"publication_date":"2023-06-27","ids":{"openalex":"https://openalex.org/W4382203478","doi":"https://doi.org/10.1109/tro.2023.3279029"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3279029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3279029","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5053074918","display_name":"Albin Dahlin","orcid":"https://orcid.org/0000-0002-1481-8757"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Albin Dahlin","raw_affiliation_strings":["Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Department of Automatic Control, Lund University, Lund, Sweden","ELLIIT Strategic Research Area at Lund University, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"ELLIIT Strategic Research Area at Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053074918"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":0.9629,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77204729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"39","issue":"5","first_page":"3655","last_page":"3670"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7520310878753662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6371787190437317},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.5907169580459595},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5847957134246826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5023331642150879},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4626179039478302},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4360204339027405},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4309673607349396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3370335102081299},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29482707381248474},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.09914007782936096},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08657178282737732}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7520310878753662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6371787190437317},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.5907169580459595},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5847957134246826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5023331642150879},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4626179039478302},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4360204339027405},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4309673607349396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3370335102081299},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29482707381248474},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.09914007782936096},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08657178282737732},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2023.3279029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3279029","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:lup.lub.lu.se:c7b80b9a-919f-4a45-9ffc-900b8ee0680e","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/c7b80b9a-919f-4a45-9ffc-900b8ee0680e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 1941-0468","raw_type":"text"},{"id":"pmh:oai:research.chalmers.se:536608","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/536608","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"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":34,"referenced_works":["https://openalex.org/W818278044","https://openalex.org/W1801747540","https://openalex.org/W2002440441","https://openalex.org/W2003711098","https://openalex.org/W2011319682","https://openalex.org/W2025984802","https://openalex.org/W2030777923","https://openalex.org/W2066658205","https://openalex.org/W2069522844","https://openalex.org/W2098564400","https://openalex.org/W2099745034","https://openalex.org/W2104782147","https://openalex.org/W2110144538","https://openalex.org/W2124956076","https://openalex.org/W2136832785","https://openalex.org/W2153612202","https://openalex.org/W2161134473","https://openalex.org/W2177274602","https://openalex.org/W2189076595","https://openalex.org/W2295899921","https://openalex.org/W2570708527","https://openalex.org/W2739535774","https://openalex.org/W2772821814","https://openalex.org/W2890358241","https://openalex.org/W2909411248","https://openalex.org/W2911302472","https://openalex.org/W2944512046","https://openalex.org/W2962788405","https://openalex.org/W3004689279","https://openalex.org/W3166133078","https://openalex.org/W3210084964","https://openalex.org/W4210891818","https://openalex.org/W4211082329","https://openalex.org/W6623030045"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2394276631","https://openalex.org/W3216096898"],"abstract_inverted_index":{"Closed-loop":[0],"motion":[1,79],"planning":[2,80],"is":[3,35,105,138],"suitable":[4],"for":[5],"obstacle":[6,64],"avoidance":[7],"in":[8,31,40,55,146,156],"dynamically":[9],"changing":[10],"environments":[11],"due":[12,61],"to":[13,23,62,67,91,126],"its":[14],"reactive":[15],"nature,":[16],"and":[17,51,116],"various":[18],"methods":[19],"have":[20],"been":[21],"presented":[22,111],"provide":[24],"(almost)":[25],"global":[26],"convergence.":[27],"A":[28],"common":[29],"assumption":[30],"the":[32,37,75,127,135,159],"control":[33],"design":[34],"that":[36],"robot":[38,68,144],"operates":[39],"a":[41,89,93,99,143,147,151],"disjoint":[42,100],"star":[43,101],"world,":[44],"i.e.,":[45],"all":[46],"obstacles":[47,58,97],"are":[48,123],"strictly":[49],"starshaped":[50,117,130],"mutually":[52],"disjoint.":[53],"However,":[54],"real-life":[56],"scenarios":[57],"may":[59],"intersect":[60],"expanded":[63],"regions":[65],"corresponding":[66],"radius":[69],"or":[70],"safety":[71],"margins.":[72],"To":[73],"broaden":[74],"applicability":[76],"of":[77,95,129,134,142],"closed-loop":[78],"methods,":[81],"such":[82],"as":[83],"harmonic":[84,152],"potential":[85,153],"fields,":[86],"we":[87],"propose":[88],"method":[90,137],"reshape":[92],"workspace":[94,149],"intersecting":[96],"into":[98],"world.":[102],"The":[103,132],"algorithm":[104],"based":[106],"on":[107],"two":[108],"novel":[109],"concepts":[110],"here,":[112],"namely,":[113],"admissible":[114],"kernel":[115],"hull":[118],"with":[119,140,158],"specified":[120],"kernel,":[121],"which":[122],"closely":[124],"related":[125],"notion":[128],"hull.":[131],"utilization":[133],"proposed":[136],"illustrated":[139],"examples":[141],"operating":[145],"2-D":[148],"using":[150],"field":[154],"approach":[155],"combination":[157],"developed":[160],"algorithm.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}