{"id":"https://openalex.org/W4412964601","doi":"https://doi.org/10.1109/ur65550.2025.11078090","title":"H* Algorithm: Enhancing A* for Smoother and More Feasible Robot Navigation","display_name":"H* Algorithm: Enhancing A* for Smoother and More Feasible Robot Navigation","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4412964601","doi":"https://doi.org/10.1109/ur65550.2025.11078090"},"language":"en","primary_location":{"id":"doi:10.1109/ur65550.2025.11078090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5119213493","display_name":"Sergei Gabrielov","orcid":null},"institutions":[{"id":"https://openalex.org/I16277215","display_name":"University of Houston - Downtown","ror":"https://ror.org/05mj6fy81","country_code":"US","type":"education","lineage":["https://openalex.org/I16277215"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergei Gabrielov","raw_affiliation_strings":["University of Houston-Downtown,Department of Computer Science,Houston,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Houston-Downtown,Department of Computer Science,Houston,USA","institution_ids":["https://openalex.org/I16277215"]}]},{"author_position":"last","author":{"id":null,"display_name":"Azadeh Izadi","orcid":null},"institutions":[{"id":"https://openalex.org/I16277215","display_name":"University of Houston - Downtown","ror":"https://ror.org/05mj6fy81","country_code":"US","type":"education","lineage":["https://openalex.org/I16277215"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Azadeh Izadi","raw_affiliation_strings":["University of Houston-Downtown,Department of Computer Science,Houston,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Houston-Downtown,Department of Computer Science,Houston,USA","institution_ids":["https://openalex.org/I16277215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16277215"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1861319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"282","last_page":"287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9884999990463257,"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/computer-science","display_name":"Computer science","score":0.6822961568832397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5642126798629761},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4858131408691406},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4090197682380676},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39795875549316406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39589643478393555}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6822961568832397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5642126798629761},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4858131408691406},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4090197682380676},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39795875549316406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39589643478393555}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur65550.2025.11078090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur65550.2025.11078090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 22nd International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1576883264","https://openalex.org/W1935926926","https://openalex.org/W1969483458","https://openalex.org/W2003708116","https://openalex.org/W2097414106","https://openalex.org/W2135835974","https://openalex.org/W2137398591","https://openalex.org/W2151957548","https://openalex.org/W3022683862","https://openalex.org/W4220728623","https://openalex.org/W4295846875","https://openalex.org/W4312271338","https://openalex.org/W4400526391","https://openalex.org/W6679896305","https://openalex.org/W6776694869"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents$\\mathrm{H}^{*}$,":[2],"an":[3,24],"enhanced$\\mathrm{A}^{*}$algorithm":[4],"designed":[5],"to":[6,28,51,57],"improve":[7],"the":[8,36,70],"realism":[9],"and":[10,23,39,46],"efficiency":[11],"of":[12],"pathfinding":[13],"for":[14,64],"real-world":[15],"agents,":[16],"especially":[17],"in":[18,74],"robotics.$H^{*}$uses":[19],"hexagonal":[20],"grid":[21],"decomposition":[22],"improved":[25],"geometric":[26],"heuristic":[27],"model":[29],"traversable":[30],"space":[31],"more":[32,43],"effectively.":[33],"By":[34],"incorporating":[35],"agent's":[37],"velocity":[38],"turning":[40],"radius,$\\mathbf{H}^{*}$generates":[41],"smoother,":[42],"realistic":[44,75],"paths":[45],"detects":[47],"sharp":[48],"turns":[49],"tailored":[50],"kinematic":[52],"constraints.":[53],"These":[54],"enhancements":[55],"aim":[56],"reduce":[58],"travel":[59],"time":[60],"while":[61],"maintaining":[62],"feasibility":[63],"physical":[65],"agents.":[66],"Experimental":[67],"results":[68],"demonstrate":[69],"algorithm's":[71],"practical":[72],"benefits":[73],"scenarios.":[76]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}