{"id":"https://openalex.org/W4409580967","doi":"https://doi.org/10.1109/tro.2025.3562482","title":"Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space","display_name":"Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409580967","doi":"https://doi.org/10.1109/tro.2025.3562482"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3562482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3562482","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":["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/A5072479087","display_name":"Qianhao Wang","orcid":"https://orcid.org/0000-0001-5157-4205"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianhao Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5157-4205","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000750647","display_name":"Zhepei Wang","orcid":"https://orcid.org/0000-0002-2032-258X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhepei Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2032-258X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingyang Wang","orcid":"https://orcid.org/0000-0002-5475-1737"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5475-1737","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102913796","display_name":"Jialin Ji","orcid":"https://orcid.org/0009-0008-9579-2675"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jialin Ji","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-9579-2675","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061364679","display_name":"Zhichao Han","orcid":"https://orcid.org/0000-0001-7617-5964"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhichao Han","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7617-5964","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089151959","display_name":"Tianyue Wu","orcid":"https://orcid.org/0000-0002-4887-7069"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyue Wu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rui Jin","orcid":"https://orcid.org/0000-0003-3552-9302"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Jin","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3552-9302","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074885429","display_name":"Yuman Gao","orcid":"https://orcid.org/0000-0002-0377-770X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuman Gao","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0377-770X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2759-6364","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":null,"display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6513-374X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4391767838"],"apc_list":null,"apc_paid":null,"fwci":6.023,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.968506,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"3223","last_page":"3243"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9733999967575073,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9733999967575073,"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/T13579","display_name":"Image and Video Stabilization","score":0.9715999960899353,"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/T14158","display_name":"Optical Systems and Laser Technology","score":0.9678999781608582,"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/obstacle","display_name":"Obstacle","score":0.7103407382965088},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5958205461502075},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5073732733726501},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.48124146461486816},{"id":"https://openalex.org/keywords/inflation","display_name":"Inflation (cosmology)","score":0.434757262468338},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4314529299736023},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.423861563205719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3713605999946594},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2573407292366028},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.24483543634414673},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12191757559776306},{"id":"https://openalex.org/keywords/theoretical-physics","display_name":"Theoretical physics","score":0.07779395580291748}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7103407382965088},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5958205461502075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5073732733726501},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.48124146461486816},{"id":"https://openalex.org/C200941418","wikidata":"https://www.wikidata.org/wiki/Q273508","display_name":"Inflation (cosmology)","level":2,"score":0.434757262468338},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4314529299736023},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.423861563205719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3713605999946594},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2573407292366028},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.24483543634414673},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12191757559776306},{"id":"https://openalex.org/C33332235","wikidata":"https://www.wikidata.org/wiki/Q18362","display_name":"Theoretical physics","level":1,"score":0.07779395580291748},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3562482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3562482","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.5099999904632568,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W187211397","https://openalex.org/W779059082","https://openalex.org/W1030513622","https://openalex.org/W1568307856","https://openalex.org/W1592882366","https://openalex.org/W1605218591","https://openalex.org/W1632601927","https://openalex.org/W1646289414","https://openalex.org/W1789652828","https://openalex.org/W1970101292","https://openalex.org/W1971086298","https://openalex.org/W1981732464","https://openalex.org/W1987679122","https://openalex.org/W1990970199","https://openalex.org/W2004189075","https://openalex.org/W2009070339","https://openalex.org/W2013439434","https://openalex.org/W2019307057","https://openalex.org/W2022958739","https://openalex.org/W2025317588","https://openalex.org/W2031973565","https://openalex.org/W2055356142","https://openalex.org/W2062138633","https://openalex.org/W2092590148","https://openalex.org/W2100556411","https://openalex.org/W2114616381","https://openalex.org/W2130527887","https://openalex.org/W2138449322","https://openalex.org/W2153504150","https://openalex.org/W2260620960","https://openalex.org/W2398223863","https://openalex.org/W2461498410","https://openalex.org/W2587415290","https://openalex.org/W2743656927","https://openalex.org/W2769646558","https://openalex.org/W2949934655","https://openalex.org/W2964085075","https://openalex.org/W3029808435","https://openalex.org/W3135798748","https://openalex.org/W3155272911","https://openalex.org/W3156258415","https://openalex.org/W3199500062","https://openalex.org/W4210423514","https://openalex.org/W4229706427","https://openalex.org/W4250589301","https://openalex.org/W4251295118","https://openalex.org/W4312258136","https://openalex.org/W4312899710","https://openalex.org/W4383108757","https://openalex.org/W4387609198","https://openalex.org/W4388145520","https://openalex.org/W4388314278","https://openalex.org/W4388692454","https://openalex.org/W4401414183","https://openalex.org/W4408710168","https://openalex.org/W6783959383","https://openalex.org/W6851365516","https://openalex.org/W6873301195"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W4400979532","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W1505959757"],"abstract_inverted_index":{"Convex":[0],"polytopes":[1,35],"have":[2],"compact":[3],"representations":[4],"and":[5,27,80,93,136,192,201],"exhibit":[6],"convexity,":[7],"which":[8,56],"makes":[9],"them":[10],"suitable":[11],"for":[12,33,163],"abstracting":[13],"obstacle-free":[14],"spaces":[15],"from":[16],"various":[17,54,195],"environments.":[18],"Existing":[19],"generation":[20],"methods":[21,131,180],"struggle":[22],"with":[23],"balancing":[24],"high-quality":[25,74,118],"output":[26],"efficiency.":[28,193],"Moreover,":[29],"another":[30],"crucial":[31],"requirement":[32],"convex":[34,75],"to":[36,59,72,133,149],"accurately":[37],"contain":[38],"certain":[39],"seed":[40,107],"point":[41,108],"sets,":[42],"such":[43],"as":[44,60],"a":[45,48],"robot":[46],"or":[47],"front-end":[49],"path,":[50],"is":[51],"proposed":[52],"in":[53,143,153,172,187],"tasks,":[55],"we":[57,65,129,156],"refer":[58],"manageability.":[61,112],"In":[62,125],"this":[63],"paper,":[64],"propose":[66],"Fast":[67],"Iterative":[68],"Regional":[69],"Inflation":[70,91],"(FIRI)":[71],"generate":[73],"polytope":[76],"while":[77],"ensuring":[78],"efficiency":[79],"manageability":[81],"simultaneously.":[82],"FIRI":[83,186,209],"consists":[84],"of":[85,127,139,145,185,189,203,208],"two":[86],"iteratively":[87],"executed":[88],"submodules:":[89],"Restrictive":[90],"(RsI)":[92],"Maximum":[94],"Volume":[95],"Inscribed":[96],"Ellipsoid":[97],"(MVIE)":[98],"computation.":[99],"By":[100],"explicitly":[101],"incorporating":[102],"constraints":[103],"that":[104],"include":[105],"the":[106,134,158,170,182,199],"set,":[109],"RsI":[110],"guarantees":[111],"Meanwhile,":[113],"iterative":[114],"MVIE":[115],"optimization":[116],"ensures":[117],"result":[119],"through":[120],"monotonic":[121],"volume":[122],"bound":[123],"improvement.":[124],"terms":[126,188],"efficiency,":[128],"design":[130],"tailored":[132],"low-dimensional":[135],"multi-constrained":[137],"nature":[138],"both":[140],"modules,":[141],"resulting":[142],"orders":[144],"magnitude":[146],"improvement":[147],"compared":[148],"generic":[150],"solvers.":[151],"Notably,":[152],"2-D":[154,173],"MVIE,":[155],"present":[157],"first":[159],"linear-complexity":[160],"analytical":[161],"algorithm":[162],"maximum":[164],"area":[165],"inscribed":[166],"ellipse,":[167],"further":[168],"enhancing":[169],"performance":[171,184],"cases.":[174],"Extensive":[175],"benchmarks":[176],"conducted":[177],"against":[178],"state-of-the-art":[179],"validate":[181],"superior":[183],"quality,":[190],"manageability,":[191],"Furthermore,":[194],"real-world":[196],"applications":[197],"showcase":[198],"generality":[200],"practicality":[202],"FIRI.":[204],"The":[205],"high-performance":[206],"code":[207],"will":[210],"be":[211],"open-sourced.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}