{"id":"https://openalex.org/W2004727989","doi":"https://doi.org/10.1145/1247069.1247080","title":"Finding curvature-constrained paths that avoid polygonal obstacles","display_name":"Finding curvature-constrained paths that avoid polygonal obstacles","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2004727989","doi":"https://doi.org/10.1145/1247069.1247080","mag":"2004727989"},"language":"en","primary_location":{"id":"doi:10.1145/1247069.1247080","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1247069.1247080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the twenty-third annual symposium on Computational geometry - SCG '07","raw_type":"proceedings-article"},"type":"conference-abstract","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/A5077116355","display_name":"Jonathan Backer","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonathan Backer","raw_affiliation_strings":["University of British Columbia, Vancouver, BC, Canada","Univ of British Columbia, Vancouver, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Univ of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069172477","display_name":"David Kirkpatrick","orcid":"https://orcid.org/0000-0002-3276-2734"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"David Kirkpatrick","raw_affiliation_strings":["University of British Columbia, Vancouver, BC, Canada","Univ of British Columbia, Vancouver, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Univ of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"66","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9944000244140625,"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/T11106","display_name":"Data Management and Algorithms","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/path","display_name":"Path (computing)","score":0.7019366025924683},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6794732809066772},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.6327642798423767},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5959385633468628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5669443607330322},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4745382070541382},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.46001407504081726},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.45811811089515686},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43586915731430054},{"id":"https://openalex.org/keywords/longest-path-problem","display_name":"Longest path problem","score":0.42016366124153137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3699163794517517},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33431729674339294},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32751893997192383},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.22939848899841309},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18895453214645386},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16312271356582642},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.15895050764083862},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.12248146533966064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1121385395526886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10798969864845276}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7019366025924683},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6794732809066772},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.6327642798423767},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5959385633468628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5669443607330322},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4745382070541382},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.46001407504081726},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.45811811089515686},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43586915731430054},{"id":"https://openalex.org/C1465435","wikidata":"https://www.wikidata.org/wiki/Q2916352","display_name":"Longest path problem","level":4,"score":0.42016366124153137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3699163794517517},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33431729674339294},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32751893997192383},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.22939848899841309},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18895453214645386},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16312271356582642},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.15895050764083862},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.12248146533966064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1121385395526886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10798969864845276},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/1247069.1247080","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1247069.1247080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the twenty-third annual symposium on Computational geometry - SCG '07","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":12,"referenced_works":["https://openalex.org/W1502051703","https://openalex.org/W1968984213","https://openalex.org/W1971998222","https://openalex.org/W1979696180","https://openalex.org/W1997373994","https://openalex.org/W2002942162","https://openalex.org/W2024479433","https://openalex.org/W2045907397","https://openalex.org/W2117435665","https://openalex.org/W2134277629","https://openalex.org/W2170508483","https://openalex.org/W2313274380"],"related_works":["https://openalex.org/W2908094156","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W1997369033","https://openalex.org/W1957996277","https://openalex.org/W2434603229","https://openalex.org/W4210716962"],"abstract_inverted_index":{"We":[0],"describe":[1],"an":[2,13,25],"algorithm":[3,23,69],"to":[4,117],"find":[5],"a":[6,19,73,81,88,115,128,136],"unit-curvature":[7,78],"path":[8,20,31,63,83,130],"between":[9],"specified":[10,66],"configurations":[11],"in":[12,32,37,94,107],"arbitrary":[14,111],"polygonal":[15,112],"domain.":[16],"Whenever":[17],"such":[18,30],"exists,":[21],"the":[22,44,50,59,65,102,108,118,122],"returns":[24],"explicit":[26],"description":[27],"of":[28,41,43,49,56,104,110,121],"one":[29],"time":[33,141],"that":[34,86],"is":[35,70],"polynomial":[36],"n":[38],"(the":[39,47,54],"number":[40,55],"features":[42],"domain),":[45],"m":[46],"precision":[48],"input)":[51],"and":[52,80,138,142],"k":[53],"segments":[57],"on":[58,72],"simplest":[60],"obstacle-free":[61],"Dubins":[62],"connecting":[64],"configurations).":[67],"Our":[68],"based":[71],"new":[74],"normal":[75,96],"form":[76],"for":[77,91,101],"paths":[79,93],"dynamic":[82],"filtering":[84],"argument":[85],"exploits":[87],"separation":[89],"bound":[90],"distinct":[92],"this":[95],"form.The":[97],"best":[98],"result":[99],"known":[100],"feasibility":[103],"bounded-curvature":[105],"motion":[106],"presence":[109],"obstacles":[113],"involves":[114],"reduction":[116],"first-order":[119],"theory":[120],"reals.":[123],"It":[124],"just":[125],"determines":[126],"if":[127],"feasible":[129],"exists":[131],"(it":[132],"does":[133],"not":[134],"return":[135],"path)":[137],"requires":[139],"exponential":[140],"space.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}
