{"id":"https://openalex.org/W2059376496","doi":"https://doi.org/10.1145/2159616.2159619","title":"Way portals","display_name":"Way portals","publication_year":2012,"publication_date":"2012-03-09","ids":{"openalex":"https://openalex.org/W2059376496","doi":"https://doi.org/10.1145/2159616.2159619","mag":"2059376496"},"language":"en","primary_location":{"id":"doi:10.1145/2159616.2159619","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2159616.2159619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games","raw_type":"proceedings-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/A5011873042","display_name":"Sean Curtis","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean Curtis","raw_affiliation_strings":["University of North Carolina at Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077893688","display_name":"Jamie Snape","orcid":"https://orcid.org/0000-0002-3326-9765"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jamie Snape","raw_affiliation_strings":["University of North Carolina at Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of North Carolina at Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114027177"],"apc_list":null,"apc_paid":null,"fwci":4.4422,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.95229878,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"15","last_page":"22"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9879999756813049,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.7781195640563965},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6108237504959106},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.5540859699249268},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.5439915060997009},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5185312032699585},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5140905976295471},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5057902336120605},{"id":"https://openalex.org/keywords/artifact","display_name":"Artifact (error)","score":0.4815235733985901},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.47070834040641785},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4542156457901001},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.45055723190307617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4253779351711273},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3566972017288208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34246718883514404},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3228413462638855},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2862507104873657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22375598549842834},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.13789904117584229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09650254249572754}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7781195640563965},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6108237504959106},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.5540859699249268},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.5439915060997009},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5185312032699585},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5140905976295471},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5057902336120605},{"id":"https://openalex.org/C2779010991","wikidata":"https://www.wikidata.org/wiki/Q2720909","display_name":"Artifact (error)","level":2,"score":0.4815235733985901},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.47070834040641785},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4542156457901001},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.45055723190307617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4253779351711273},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3566972017288208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34246718883514404},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3228413462638855},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2862507104873657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22375598549842834},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.13789904117584229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09650254249572754},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2159616.2159619","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2159616.2159619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4017723152","display_name":null,"funder_award_id":"9.17E+25","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6696817298","display_name":null,"funder_award_id":"W911NF-04-1-0088","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W192919555","https://openalex.org/W255922872","https://openalex.org/W1976134581","https://openalex.org/W2000790002","https://openalex.org/W2002207741","https://openalex.org/W2002440441","https://openalex.org/W2004094485","https://openalex.org/W2035612683","https://openalex.org/W2036016432","https://openalex.org/W2097639646","https://openalex.org/W2099593662","https://openalex.org/W2101033030","https://openalex.org/W2103120971","https://openalex.org/W2103586465","https://openalex.org/W2108643443","https://openalex.org/W2133979304","https://openalex.org/W2135181899","https://openalex.org/W2142943472","https://openalex.org/W2149906774","https://openalex.org/W2150312211","https://openalex.org/W2167052694","https://openalex.org/W4242811155","https://openalex.org/W6674914115"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"It":[0],"is":[1,148,162],"a":[2,19,34,65,71,93,116,124,132,169],"common":[3,35],"artifact":[4],"of":[5,11,59,103,194],"multi-agent":[6,95],"motion":[7],"planning":[8],"for":[9,40],"groups":[10],"agents,":[12],"following":[13],"similar":[14],"paths,":[15],"to":[16,18,46,64,78,84,88,98,138,165],"converge":[17],"line.":[20],"This":[21],"occurs":[22],"because":[23],"the":[24,41,57,76,81,101,113,139],"agents'":[25],"immediate":[26,61],"goals,":[27],"also":[28],"known":[29],"as":[30,157],"waypoints,":[31],"are":[32],"frequently":[33],"point":[36,42,62],"in":[37,86,182],"space.":[38,196],"Contention":[39],"goal":[43,63],"causes":[44],"agents":[45,77,105],"line":[47,66],"up":[48],"and":[49,122,167,186,191],"generally":[50],"interferes":[51],"with":[52,136],"agent":[53,134,189],"motion.":[54],"By":[55],"extending":[56],"definition":[58],"an":[60],"segment,":[67],"which":[68],"we":[69,74],"call":[70],"\"way":[72],"portal\",":[73],"enable":[75],"better":[79,192],"utilize":[80],"space":[82],"available":[83],"them":[85],"responding":[87],"dynamic":[89],"constraints.":[90],"We":[91,110,142,178],"present":[92,123],"novel":[94],"navigation":[96,120,153,158],"algorithm":[97,128,161],"efficiently":[99,130],"compute":[100],"trajectories":[102],"autonomous":[104],"using":[106],"these":[107],"way":[108,140,145],"portals.":[109],"have":[111],"incorporated":[112],"concept":[114],"into":[115],"velocity":[117,135],"obstacle-based":[118],"local":[119],"model":[121],"new":[125,133],"segment":[126],"optimization":[127],"that":[129],"computes":[131],"respect":[137],"portal.":[141],"show":[143],"how":[144],"portal":[146],"data":[147,154],"extracted":[149],"from":[150],"current":[151],"global":[152],"structures,":[155],"such":[156],"meshes.":[159],"The":[160],"relatively":[163],"simple":[164],"implement":[166],"has":[168],"small":[170],"run-time":[171],"cost":[172],"(approximately":[173],"3":[174],"\u03bcs":[175],"per":[176],"agent.)":[177],"highlight":[179],"its":[180],"performance":[181],"different":[183],"game-like":[184],"scenarios":[185],"observe":[187],"improved":[188],"behavior":[190],"utilization":[193],"free":[195]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2016-06-24T00:00:00"}