{"id":"https://openalex.org/W2157284719","doi":"https://doi.org/10.1142/s0218195993000154","title":"AN ON-LINE ALGORITHM FOR NAVIGATING IN AN UNKNOWN ENVIRONMENT","display_name":"AN ON-LINE ALGORITHM FOR NAVIGATING IN AN UNKNOWN ENVIRONMENT","publication_year":1993,"publication_date":"1993-09-01","ids":{"openalex":"https://openalex.org/W2157284719","doi":"https://doi.org/10.1142/s0218195993000154","mag":"2157284719"},"language":"en","primary_location":{"id":"doi:10.1142/s0218195993000154","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0218195993000154","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054257449","display_name":"Kwong-fai Chan","orcid":null},"institutions":[{"id":"https://openalex.org/I2801441622","display_name":"China Railway Corporation","ror":"https://ror.org/044wv3489","country_code":"CN","type":"government","lineage":["https://openalex.org/I2801441622","https://openalex.org/I4210122102"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"KWONG-FAI CHAN","raw_affiliation_strings":["Commercial Systems Development, Mass Transit Railway Corporation, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Commercial Systems Development, Mass Transit Railway Corporation, Hong Kong, China","institution_ids":["https://openalex.org/I2801441622"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077116003","display_name":"Tak\u2010Wah Lam","orcid":"https://orcid.org/0000-0003-4676-8587"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"TAK WAH LAM","raw_affiliation_strings":["Department of Computer Science, University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054257449"],"corresponding_institution_ids":["https://openalex.org/I2801441622"],"apc_list":null,"apc_paid":null,"fwci":1.6938,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.86578702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"03","issue":"03","first_page":"227","last_page":"244"},"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":0.991599977016449,"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/T12288","display_name":"Optimization and Search Problems","score":0.9900000095367432,"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/obstacle","display_name":"Obstacle","score":0.870273232460022},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7272617220878601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6673132181167603},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6507562398910522},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.6434846520423889},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6372347474098206},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5746064186096191},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.5412075519561768},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5185133218765259},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5146685242652893},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4954756498336792},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4745672047138214},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.445705771446228},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.44546452164649963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4099283516407013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38134825229644775},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.18327149748802185},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15919724106788635},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09108036756515503},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.07755240797996521},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07444953918457031}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.870273232460022},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7272617220878601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6673132181167603},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6507562398910522},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.6434846520423889},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6372347474098206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5746064186096191},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.5412075519561768},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5185133218765259},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5146685242652893},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4954756498336792},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4745672047138214},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.445705771446228},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.44546452164649963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4099283516407013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38134825229644775},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.18327149748802185},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15919724106788635},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09108036756515503},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.07755240797996521},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07444953918457031},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0218195993000154","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0218195993000154","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2144359291"],"abstract_inverted_index":{"Suppose":[0],"that":[1,96],"a":[2,8,111],"robot":[3,16,41,59],"is":[4,76,108,123],"required":[5],"to":[6,60,65,87],"traverse":[7],"two-dimensional":[9],"scene":[10,36,107],"with":[11],"impenetrable":[12],"rectangular":[13,103],"obstacles.":[14],"The":[15,69],"has":[17],"no":[18],"information":[19],"about":[20],"the":[21,26,35,40,58,77,83,88,91,98,106,118],"obstacles":[22],"in":[23,34,46,105],"advance":[24],"and":[25,29,44],"size,":[27],"location,":[28],"orientation":[30],"of":[31,90,101],"each":[32],"obstacle":[33,104],"are":[37],"arbitrary,":[38],"yet":[39],"can":[42],"see":[43],"move":[45],"any":[47],"direction.":[48],"In":[49],"this":[50],"paper":[51],"we":[52],"construct":[53],"an":[54,62],"on-line":[55,74],"algorithm":[56,75,116],"for":[57,72],"determine":[61],"obstacle-free":[63],"path":[64],"its":[66],"destination":[67],"dynamically.":[68],"primary":[70],"concern":[71],"such":[73],"competitiveness":[78,120],"coefficient":[79,121],"which":[80,122],"essentially":[81],"compares":[82],"actual":[84],"distance":[85],"traversed":[86],"length":[89],"shortest":[92],"path.":[93],"We":[94],"show":[95],"if":[97],"aspect":[99],"ratio":[100],"every":[102],"bounded":[109],"by":[110],"constant":[112],"r,":[113],"then":[114],"our":[115],"achieves":[117],"optimal":[119],"r/2+1.":[124]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}