{"id":"https://openalex.org/W2148079461","doi":"https://doi.org/10.1142/s0218195903001128","title":"A Polynomial-Time Algorithm for Computing Shortest Paths of Bounded Curvature Amidst Moderate Obstacles","display_name":"A Polynomial-Time Algorithm for Computing Shortest Paths of Bounded Curvature Amidst Moderate Obstacles","publication_year":2003,"publication_date":"2003-06-01","ids":{"openalex":"https://openalex.org/W2148079461","doi":"https://doi.org/10.1142/s0218195903001128","mag":"2148079461"},"language":"en","primary_location":{"id":"doi:10.1142/s0218195903001128","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0218195903001128","pdf_url":null,"source":{"id":"https://openalex.org/S25827807","display_name":"International Journal of Computational Geometry & Applications","issn_l":"0218-1959","issn":["0218-1959","1793-6357"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Geometry & Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00099509","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5105370783","display_name":"Jean\u2010Daniel Boissonnat","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210106545","display_name":"Centre Inria d'Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/01nzkaw91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I201841394","https://openalex.org/I4210106545"]},{"id":"https://openalex.org/I4210150884","display_name":"Fondation Sophia Antipolis","ror":"https://ror.org/05nkcfv27","country_code":"FR","type":"other","lineage":["https://openalex.org/I4210150884"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Daniel Boissonnat","raw_affiliation_strings":["INRIA Sophia-Antipolis, BP 93,  06902 Sophia Antipolis Cedex, France","INRIA Sophia-Antipolis, BP 93, 06902 Sophia Antipolis Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Sophia-Antipolis, BP 93,  06902 Sophia Antipolis Cedex, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210106545","https://openalex.org/I4210150884"]},{"raw_affiliation_string":"INRIA Sophia-Antipolis, BP 93, 06902 Sophia Antipolis Cedex, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041225170","display_name":"Sylvain Lazard","orcid":"https://orcid.org/0000-0002-6032-0802"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I4210127166","display_name":"Centre Inria de l'Universit\u00e9 de Lorraine","ror":"https://ror.org/03fcjvn64","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210127166"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvain Lazard","raw_affiliation_strings":["INRIA Lorraine \u2014 LORIA, 615 rue du Jardin Botanique, B.P. 101, 54602 Villers-les-Nancy  Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Lorraine \u2014 LORIA, 615 rue du Jardin Botanique, B.P. 101, 54602 Villers-les-Nancy  Cedex, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210121838","https://openalex.org/I4210127166"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1881,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.83117806,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"13","issue":"03","first_page":"189","last_page":"229"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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":0.9793999791145325,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.699802041053772},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.631756067276001},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6235557198524475},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6100671887397766},{"id":"https://openalex.org/keywords/euclidean-shortest-path","display_name":"Euclidean shortest path","score":0.5671402812004089},{"id":"https://openalex.org/keywords/time-complexity","display_name":"Time complexity","score":0.543815016746521},{"id":"https://openalex.org/keywords/radius-of-curvature","display_name":"Radius of curvature","score":0.4703540802001953},{"id":"https://openalex.org/keywords/k-shortest-path-routing","display_name":"K shortest path routing","score":0.4461725652217865},{"id":"https://openalex.org/keywords/yens-algorithm","display_name":"Yen's algorithm","score":0.42545440793037415},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4248390793800354},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38241666555404663},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.31026872992515564},{"id":"https://openalex.org/keywords/sectional-curvature","display_name":"Sectional curvature","score":0.22764286398887634},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.2028774619102478},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17342513799667358},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15166831016540527},{"id":"https://openalex.org/keywords/scalar-curvature","display_name":"Scalar curvature","score":0.09928905963897705},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.08765637874603271}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.699802041053772},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.631756067276001},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6235557198524475},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6100671887397766},{"id":"https://openalex.org/C170836113","wikidata":"https://www.wikidata.org/wiki/Q5406126","display_name":"Euclidean shortest path","level":5,"score":0.5671402812004089},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.543815016746521},{"id":"https://openalex.org/C11665553","wikidata":"https://www.wikidata.org/wiki/Q1136069","display_name":"Radius of curvature","level":5,"score":0.4703540802001953},{"id":"https://openalex.org/C70266271","wikidata":"https://www.wikidata.org/wiki/Q6343044","display_name":"K shortest path routing","level":4,"score":0.4461725652217865},{"id":"https://openalex.org/C119971455","wikidata":"https://www.wikidata.org/wiki/Q8052172","display_name":"Yen's algorithm","level":5,"score":0.42545440793037415},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4248390793800354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38241666555404663},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.31026872992515564},{"id":"https://openalex.org/C42448751","wikidata":"https://www.wikidata.org/wiki/Q855622","display_name":"Sectional curvature","level":4,"score":0.22764286398887634},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.2028774619102478},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17342513799667358},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15166831016540527},{"id":"https://openalex.org/C12520029","wikidata":"https://www.wikidata.org/wiki/Q1147161","display_name":"Scalar curvature","level":3,"score":0.09928905963897705},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.08765637874603271}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s0218195903001128","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0218195903001128","pdf_url":null,"source":{"id":"https://openalex.org/S25827807","display_name":"International Journal of Computational Geometry & Applications","issn_l":"0218-1959","issn":["0218-1959","1793-6357"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Geometry & Applications","raw_type":"journal-article"},{"id":"pmh:oai:HAL:inria-00099509v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00099509","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.worldscinet.com/ijcga/13/preserved-docs/1303/S0218195903001128.pdf","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00099509v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00099509","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.worldscinet.com/ijcga/13/preserved-docs/1303/S0218195903001128.pdf","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/W101508493","https://openalex.org/W150708112","https://openalex.org/W1498792794","https://openalex.org/W1527244075","https://openalex.org/W1915080814","https://openalex.org/W1968984213","https://openalex.org/W1971998222","https://openalex.org/W1980092773","https://openalex.org/W1997373994","https://openalex.org/W2040904149","https://openalex.org/W2058786336","https://openalex.org/W2059435624","https://openalex.org/W2131339983","https://openalex.org/W2148970883","https://openalex.org/W2163042598","https://openalex.org/W2170508483","https://openalex.org/W2216368278","https://openalex.org/W2313274380","https://openalex.org/W4242811155","https://openalex.org/W4251794413","https://openalex.org/W4254977685"],"related_works":["https://openalex.org/W2360981904","https://openalex.org/W2562562750","https://openalex.org/W2347245430","https://openalex.org/W2377950158","https://openalex.org/W2112429204","https://openalex.org/W2375775343","https://openalex.org/W4293054712","https://openalex.org/W2365712669","https://openalex.org/W4200172719","https://openalex.org/W2198982833"],"abstract_inverted_index":{"In":[0,79],"this":[1,80,97],"paper,":[2,81],"we":[3,44,82],"consider":[4,83],"the":[5,17,29,32,42,58,62,71,84],"problem":[6],"of":[7,11,34,39,73,86],"computing":[8],"shortest":[9,49],"paths":[10],"bounded":[12],"curvature":[13,74],"amidst":[14],"obstacles":[15,40,88],"in":[16,41],"plane.":[18],"More":[19],"precisely,":[20],"given":[21],"two":[22,55],"prescribed":[23],"initial":[24],"and":[25,31,36,60,89],"final":[26],"configurations":[27],"(specifying":[28],"location":[30],"direction":[33],"travel)":[35],"a":[37,48,91],"set":[38],"plane,":[43],"want":[45],"to":[46,95],"compute":[47],"C":[50,68],"1":[51],"path":[52],"joining":[53],"those":[54],"configurations,":[56],"avoiding":[57],"obstacles,":[59],"with":[61],"further":[63],"constraint":[64],"that,":[65],"on":[66],"each":[67],"2":[69],"piece,":[70],"radius":[72],"is":[75],"at":[76],"least":[77],"1.":[78],"case":[85],"moderate":[87],"present":[90],"polynomial-time":[92],"exact":[93],"algorithm":[94],"solve":[96],"problem.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}