{"id":"https://openalex.org/W2807431697","doi":"https://doi.org/10.1155/2018/4676720","title":"Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem","display_name":"Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem","publication_year":2018,"publication_date":"2018-06-03","ids":{"openalex":"https://openalex.org/W2807431697","doi":"https://doi.org/10.1155/2018/4676720","mag":"2807431697"},"language":"en","primary_location":{"id":"doi:10.1155/2018/4676720","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/4676720","pdf_url":"http://downloads.hindawi.com/journals/jr/2018/4676720.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://downloads.hindawi.com/journals/jr/2018/4676720.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011986519","display_name":"Karima Benzaid","orcid":"https://orcid.org/0000-0002-3748-1376"},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Karima Benzaid","raw_affiliation_strings":["LARC Laboratory, University Fr\u00e8res Mentouri Constantine 1, Constantine, Algeria"],"raw_orcid":"https://orcid.org/0000-0002-3748-1376","affiliations":[{"raw_affiliation_string":"LARC Laboratory, University Fr\u00e8res Mentouri Constantine 1, Constantine, Algeria","institution_ids":["https://openalex.org/I125485651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004842551","display_name":"Romain Marie","orcid":"https://orcid.org/0000-0001-6599-426X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I65806277","display_name":"Universit\u00e9 de Limoges","ror":"https://ror.org/02cp04407","country_code":"FR","type":"education","lineage":["https://openalex.org/I65806277"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Romain Marie","raw_affiliation_strings":["X-Lim Institute, UMR CNRS 7252, University of Limoges, Limoges, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"X-Lim Institute, UMR CNRS 7252, University of Limoges, Limoges, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I65806277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112370148","display_name":"Noura Mansouri","orcid":"https://orcid.org/0000-0002-4838-5216"},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Noura Mansouri","raw_affiliation_strings":["LARC Laboratory, University Fr\u00e8res Mentouri Constantine 1, Constantine, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LARC Laboratory, University Fr\u00e8res Mentouri Constantine 1, Constantine, Algeria","institution_ids":["https://openalex.org/I125485651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109054404","display_name":"Ouiddad Labbani-Igbida","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I65806277","display_name":"Universit\u00e9 de Limoges","ror":"https://ror.org/02cp04407","country_code":"FR","type":"education","lineage":["https://openalex.org/I65806277"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ouiddad Labbani-Igbida","raw_affiliation_strings":["X-Lim Institute, UMR CNRS 7252, University of Limoges, Limoges, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"X-Lim Institute, UMR CNRS 7252, University of Limoges, Limoges, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I65806277"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011986519"],"corresponding_institution_ids":["https://openalex.org/I125485651"],"apc_list":{"value":1100,"currency":"USD","value_usd":1100},"apc_paid":{"value":1100,"currency":"USD","value_usd":1100},"fwci":0.1228,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.47815975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2018","issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9926999807357788,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9854999780654907,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7398110628128052},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.715991735458374},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.6558013558387756},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.59006267786026},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5895133018493652},{"id":"https://openalex.org/keywords/a*-search-algorithm","display_name":"A* search algorithm","score":0.5096108913421631},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49925899505615234},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4973764717578888},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4928855895996094},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.48188120126724243},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.4699711203575134},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4670165181159973},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4589352309703827},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4502692222595215},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.43899986147880554},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4155692458152771},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4114745855331421},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4053349494934082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2861509621143341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23049965500831604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20238542556762695},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1731218695640564},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11254626512527466}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7398110628128052},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.715991735458374},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.6558013558387756},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.59006267786026},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5895133018493652},{"id":"https://openalex.org/C103578098","wikidata":"https://www.wikidata.org/wiki/Q277680","display_name":"A* search algorithm","level":2,"score":0.5096108913421631},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49925899505615234},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4973764717578888},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4928855895996094},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.48188120126724243},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.4699711203575134},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4670165181159973},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4589352309703827},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4502692222595215},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.43899986147880554},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4155692458152771},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4114745855331421},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4053349494934082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2861509621143341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23049965500831604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20238542556762695},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1731218695640564},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11254626512527466},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2018/4676720","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/4676720","pdf_url":"http://downloads.hindawi.com/journals/jr/2018/4676720.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:761472921db54aa784c8ca71a20204bc","is_oa":true,"landing_page_url":"https://doaj.org/article/761472921db54aa784c8ca71a20204bc","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2018 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2018/4676720","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2018/4676720","pdf_url":"http://downloads.hindawi.com/journals/jr/2018/4676720.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2807431697.pdf","grobid_xml":"https://content.openalex.org/works/W2807431697.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1522951724","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1983972263","https://openalex.org/W1992106482","https://openalex.org/W1995965025","https://openalex.org/W2003835006","https://openalex.org/W2031351246","https://openalex.org/W2056649556","https://openalex.org/W2077831477","https://openalex.org/W2097943569","https://openalex.org/W2116296689","https://openalex.org/W2119394765","https://openalex.org/W2128990851","https://openalex.org/W2169528473","https://openalex.org/W2329739548","https://openalex.org/W2519943930"],"related_works":["https://openalex.org/W2382258861","https://openalex.org/W3157110573","https://openalex.org/W2004837674","https://openalex.org/W3155786147","https://openalex.org/W2548289027","https://openalex.org/W4362644879","https://openalex.org/W4210716962","https://openalex.org/W2368795992","https://openalex.org/W2057530136","https://openalex.org/W4213077816"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,64,104,120],"original":[4],"3D":[5,36,135],"path":[6,27,115,129],"planning":[7],"approach":[8,167],"for":[9],"Unmanned":[10],"Aerial":[11],"Vehicle":[12],"(UAV)":[13],"applications.":[14],"More":[15],"specifically,":[16],"the":[17,31,40,42,58,68,94,113,117,124,127,139,146,153,165],"core":[18],"idea":[19],"is":[20,47,108,149],"to":[21,30,75,111,138,163],"generate":[22],"a":[23,35,51,87,97,132,143],"smooth":[24],"and":[25,83,101,157],"collision-free":[26],"with":[28],"respect":[29],"vehicle":[32],"dimension.":[33],"Given":[34,96],"grid":[37],"representation":[38,156],"of":[39,89,99,126,134],"environment,":[41],"Generalized":[43],"Voronoi":[44],"Graph":[45],"(GVG)":[46],"first":[48],"approximated":[49],"using":[50,168],"filtered":[52],"medial":[53],"surface":[54],"(FMS)":[55],"algorithm":[56,107,148],"on":[57,63,116,152],"corresponding":[59,74],"navigable":[60],"space.":[61],"Based":[62],"efficient":[65],"pruning":[66],"criterion,":[67],"produced":[69],"FMS":[70],"excludes":[71],"GVG":[72],"portions":[73],"narrow":[76],"passages":[77],"unfitting":[78],"safe":[79,91],"UAV":[80],"navigation":[81],"constraints,":[82],"thus":[84],"it":[85],"defines":[86],"set":[88,98,133],"guaranteed":[90],"trajectories":[92],"within":[93],"environment.":[95],"starting":[100],"destination":[102],"coordinates,":[103],"adapted":[105],"A-star":[106,147],"then":[109],"applied":[110,150],"compute":[112],"shortest":[114],"FMS.":[118],"Finally,":[119],"optimization":[121],"process":[122],"ensures":[123],"smoothness":[125],"final":[128],"by":[130],"fitting":[131],"B\u00e9zier":[136],"curves":[137],"initial":[140],"path.":[141],"For":[142],"comparative":[144,159],"study,":[145],"directly":[151],"input":[154],"environment":[155],"relevant":[158],"criteria":[160],"are":[161],"defined":[162],"assert":[164],"proposed":[166],"simulation":[169],"results.":[170]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}