{"id":"https://openalex.org/W3048456101","doi":"https://doi.org/10.1145/3386569.3392468","title":"C-Space tunnel discovery for puzzle path planning","display_name":"C-Space tunnel discovery for puzzle path planning","publication_year":2020,"publication_date":"2020-08-12","ids":{"openalex":"https://openalex.org/W3048456101","doi":"https://doi.org/10.1145/3386569.3392468","mag":"3048456101"},"language":"en","primary_location":{"id":"doi:10.1145/3386569.3392468","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3386569.3392468","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","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/A5055815453","display_name":"Xinya Zhang","orcid":"https://orcid.org/0000-0003-2485-8397"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xinya Zhang","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058887555","display_name":"Robert Belfer","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Robert Belfer","raw_affiliation_strings":["McGill University"],"affiliations":[{"raw_affiliation_string":"McGill University","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060542558","display_name":"Paul G. Kry","orcid":"https://orcid.org/0000-0003-4176-6857"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Paul G. Kry","raw_affiliation_strings":["McGill University"],"affiliations":[{"raw_affiliation_string":"McGill University","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089653767","display_name":"Etienne Vouga","orcid":"https://orcid.org/0000-0003-0822-5274"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Etienne Vouga","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055815453"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.8793,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.76282181,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"39","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9991999864578247,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9991999864578247,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9937000274658203,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.824255645275116},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8079596757888794},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6281131505966187},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6126492023468018},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6092013120651245},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5867957472801208},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5741431713104248},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5717787146568298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5035735964775085},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5016794204711914},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5008466243743896},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4839620888233185},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4298175573348999},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34449148178100586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30389097332954407},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22661557793617249},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13855820894241333},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.084848552942276}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.824255645275116},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8079596757888794},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6281131505966187},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6126492023468018},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6092013120651245},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5867957472801208},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5741431713104248},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5717787146568298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5035735964775085},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5016794204711914},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5008466243743896},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4839620888233185},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4298175573348999},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34449148178100586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30389097332954407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22661557793617249},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13855820894241333},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.084848552942276},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3386569.3392468","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3386569.3392468","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G7901200427","display_name":null,"funder_award_id":"2018-05665","funder_id":"https://openalex.org/F4320321487","funder_display_name":"Canadian Network for Research and Innovation in Machining Technology, Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8348856612","display_name":null,"funder_award_id":"IIS-1910274","funder_id":"https://openalex.org/F4320315254","funder_display_name":"Innovative Research Group Project of the National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320315254","display_name":"Innovative Research Group Project of the National Natural Science Foundation of China","ror":null},{"id":"https://openalex.org/F4320321487","display_name":"Canadian Network for Research and Innovation in Machining Technology, Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1644641054","https://openalex.org/W1814533834","https://openalex.org/W1905829557","https://openalex.org/W1935189976","https://openalex.org/W1937587174","https://openalex.org/W1963962785","https://openalex.org/W1981784948","https://openalex.org/W1987521935","https://openalex.org/W2003940193","https://openalex.org/W2032207853","https://openalex.org/W2042106485","https://openalex.org/W2046356179","https://openalex.org/W2058240764","https://openalex.org/W2063668492","https://openalex.org/W2094576873","https://openalex.org/W2097022843","https://openalex.org/W2101902009","https://openalex.org/W2106473816","https://openalex.org/W2108681527","https://openalex.org/W2109992539","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2115257338","https://openalex.org/W2118356379","https://openalex.org/W2119370533","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2145313322","https://openalex.org/W2148300333","https://openalex.org/W2153968339","https://openalex.org/W2154574107","https://openalex.org/W2163605009","https://openalex.org/W2167458557","https://openalex.org/W2168430074","https://openalex.org/W2168751569","https://openalex.org/W2171266831","https://openalex.org/W2201912979","https://openalex.org/W2307770531","https://openalex.org/W2346637437","https://openalex.org/W2519156253","https://openalex.org/W2528489519","https://openalex.org/W2603462040","https://openalex.org/W2737234477","https://openalex.org/W2809900749","https://openalex.org/W2890556874","https://openalex.org/W2891396148","https://openalex.org/W2962731536","https://openalex.org/W2962736495","https://openalex.org/W2962892019","https://openalex.org/W2962991582","https://openalex.org/W2963439114","https://openalex.org/W2986708244","https://openalex.org/W3048946968","https://openalex.org/W3101228253","https://openalex.org/W3103346840","https://openalex.org/W3104141662","https://openalex.org/W3125178117","https://openalex.org/W3136868698","https://openalex.org/W4234552385","https://openalex.org/W4236470048","https://openalex.org/W4236508656","https://openalex.org/W4289076044"],"related_works":["https://openalex.org/W1568835640","https://openalex.org/W2368795992","https://openalex.org/W2005695917","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2333571655","https://openalex.org/W2104320275","https://openalex.org/W4367628293","https://openalex.org/W2268712943"],"abstract_inverted_index":{"Rigid":[0],"body":[1],"disentanglement":[2,121],"puzzles":[3,122],"are":[4],"challenging":[5,120],"for":[6,42],"both":[7],"humans":[8],"and":[9,19,39,57,60,98,109,123],"motion":[10,90,130],"planning":[11,40,131],"algorithms":[12],"because":[13],"their":[14],"solutions":[15],"involve":[16],"tricky":[17],"twisting":[18],"sliding":[20],"moves":[21],"that":[22,76,93],"correspond":[23],"to":[24,67],"navigating":[25],"through":[26],"narrow":[27,80],"tunnels":[28],"in":[29,72],"the":[30,52,73,79],"puzzle's":[31,74],"configuration":[32],"space":[33],"(C-space).":[34],"We":[35,112],"propose":[36,84],"a":[37,85,104,117],"tunnel-discovery":[38],"strategy":[41],"solving":[43],"these":[44,65,101],"puzzles.":[45],"First,":[46],"we":[47,83],"locate":[48],"important":[49],"features":[50,66],"on":[51,116],"pieces":[53],"using":[54],"geometric":[55],"heuristics":[56],"machine":[58],"learning,":[59],"then":[61,99],"match":[62],"pairs":[63],"of":[64,119],"discover":[68],"collision":[69],"free":[70],"states":[71],"C-space":[75],"lie":[77],"within":[78],"tunnels.":[81],"Second,":[82],"Rapidly-exploring":[86],"Dense":[87],"Tree":[88],"(RDT)":[89],"planner":[91],"variant":[92],"builds":[94],"tunnel":[95],"escape":[96],"roadmaps":[97,102],"connects":[100],"into":[103],"solution":[105],"path":[106],"connecting":[107],"start":[108],"goal":[110],"states.":[111],"evaluate":[113],"our":[114],"approach":[115],"variety":[118],"provide":[124],"extensive":[125],"baseline":[126],"comparisons":[127],"with":[128],"other":[129],"techniques.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}