{"id":"https://openalex.org/W4408780472","doi":"https://doi.org/10.1109/tro.2025.3554406","title":"Accelerated Reeds\u2013Shepp and Underspecified Reeds\u2013Shepp Algorithms for Mobile Robot Path Planning","display_name":"Accelerated Reeds\u2013Shepp and Underspecified Reeds\u2013Shepp Algorithms for Mobile Robot Path Planning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408780472","doi":"https://doi.org/10.1109/tro.2025.3554406"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3554406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3554406","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/20.500.12942/763135","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100330401","display_name":"Ibrahim Ibrahim","orcid":"https://orcid.org/0000-0001-6840-558X"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ibrahim Ibrahim","raw_affiliation_strings":["MECO Research Team, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","MECO Research Team, Department of Mechanical Engineering, KU Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-6840-558X","affiliations":[{"raw_affiliation_string":"MECO Research Team, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"MECO Research Team, Department of Mechanical Engineering, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009275320","display_name":"Wilm Decr\u00e9","orcid":"https://orcid.org/0000-0002-9724-8103"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wilm Decr\u00e9","raw_affiliation_strings":["MECO Research Team, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","MECO Research Team, Department of Mechanical Engineering, KU Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-9724-8103","affiliations":[{"raw_affiliation_string":"MECO Research Team, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"MECO Research Team, Department of Mechanical Engineering, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["MECO Research Team, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","MECO Research Team, Department of Mechanical Engineering, KU Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-2034-5519","affiliations":[{"raw_affiliation_string":"MECO Research Team, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"MECO Research Team, Department of Mechanical Engineering, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":3.0621,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.91026387,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"2691","last_page":"2708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T11269","display_name":"Algorithms and Data Compression","score":0.9811000227928162,"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9721999764442444,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6389888525009155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5983449816703796},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5398101210594177},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4356304705142975},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.43455949425697327},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4175841212272644},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.30660977959632874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28813856840133667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2805330157279968},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.184919536113739},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16550526022911072},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.13952487707138062}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6389888525009155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5983449816703796},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5398101210594177},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4356304705142975},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.43455949425697327},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4175841212272644},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.30660977959632874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28813856840133667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2805330157279968},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.184919536113739},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16550526022911072},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.13952487707138062}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2025.3554406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3554406","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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:lirias2repo.kuleuven.be:20.500.12942/763135","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/763135","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Ieee Transactions On Robotics, vol. 41, (2691-2708)","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:arXiv.org:2504.05921","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.05921","pdf_url":"https://arxiv.org/pdf/2504.05921","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/763135","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/763135","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Ieee Transactions On Robotics, vol. 41, (2691-2708)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1971998222","https://openalex.org/W2000194319","https://openalex.org/W2110762409","https://openalex.org/W2110831351","https://openalex.org/W2113755254","https://openalex.org/W2117086819","https://openalex.org/W2131339983","https://openalex.org/W2132242891","https://openalex.org/W2133538328","https://openalex.org/W2152053668","https://openalex.org/W2158380902","https://openalex.org/W2163385431","https://openalex.org/W2186472629","https://openalex.org/W2313274380","https://openalex.org/W2387166600","https://openalex.org/W3095606244","https://openalex.org/W3167327790","https://openalex.org/W4249823714","https://openalex.org/W4289829477","https://openalex.org/W4320039820"],"related_works":["https://openalex.org/W3209137076","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/W1904098742","https://openalex.org/W4310124294","https://openalex.org/W3158921809"],"abstract_inverted_index":{"In":[0,69],"this":[1],"study,":[2],"we":[3,71],"present":[4],"a":[5,30,38,112,122],"simple":[6],"and":[7,37,50,151],"intuitive":[8],"method":[9,110],"for":[10,65,147],"accelerating":[11],"optimal":[12,26],"Reeds\u2013Shepp":[13,75,101,153],"path":[14,134],"computation.":[15],"Our":[16],"approach":[17],"uses":[18],"geometrical":[19],"reasoning":[20],"to":[21,61,88,93,137],"analyze":[22],"the":[23,34,42,73,79,94,99,104,138,149],"behavior":[24],"of":[25,33,45,98],"paths,":[27],"resulting":[28],"in":[29,41,103,133],"new":[31],"partitioning":[32],"state":[35],"space":[36],"further":[39],"reduction":[40],"minimal":[43],"set":[44],"viable":[46],"paths.":[47],"We":[48,84,141],"revisit":[49],"reimplement":[51],"classic":[52,119],"methodologies":[53],"from":[54],"literature,":[55],"which":[56],"lack":[57],"contemporary":[58],"open-source":[59,156],"implementations,":[60],"serve":[62],"as":[63,155],"benchmarks":[64],"evaluating":[66],"our":[67,90,109,143],"method.":[68],"addition,":[70],"address":[72],"underspecified":[74,152],"planning":[76],"problem":[77],"where":[78],"final":[80],"orientation":[81],"is":[82],"unspecified.":[83],"perform":[85],"exhaustive":[86],"experiments":[87],"validate":[89],"solutions.":[91],"Compared":[92],"modern":[95],"C++":[96,145],"implementation":[97],"original":[100,139],"solution":[102],"Open":[105],"Motion":[106],"Planning":[107],"Library,":[108],"demonstrates":[111],"<inline-formula":[113,123],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[114,124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[115,125],"notation=\"LaTeX\">$15\\times$</tex-math></inline-formula>":[116],"speedup,":[117],"while":[118],"methods":[120],"achieve":[121],"notation=\"LaTeX\">$5.79\\times$</tex-math></inline-formula>":[126],"speedup.":[127],"Both":[128],"approaches":[129],"exhibit":[130],"machine-precision":[131],"differences":[132],"lengths":[135],"compared":[136],"solution.":[140],"release":[142],"proposed":[144],"implementations":[146],"both":[148],"accelerated":[150],"problems":[154],"code.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
