{"id":"https://openalex.org/W2092507038","doi":"https://doi.org/10.1177/02783640022066770","title":"Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph","display_name":"Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph","publication_year":2000,"publication_date":"2000-02-01","ids":{"openalex":"https://openalex.org/W2092507038","doi":"https://doi.org/10.1177/02783640022066770","mag":"2092507038"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022066770","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066770","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Carnegie Mellon University, Scaife Hall, Pittsburgh, Pennsylvania 15213 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Scaife Hall, Pittsburgh, Pennsylvania 15213 USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel Burdick","raw_affiliation_strings":["California Institute of Technology, Mail Code 104-44, Pasadena,                         California 91125 USA","California Institute of Technology, Mail Code 104-44, Pasadena, California 91125 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Mail Code 104-44, Pasadena,                         California 91125 USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology, Mail Code 104-44, Pasadena, California 91125 USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048906141"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.4131,"has_fulltext":false,"cited_by_count":284,"citation_normalized_percentile":{"value":0.94931323,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"19","issue":"2","first_page":"96","last_page":"125"},"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":0.9987999796867371,"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":0.998199999332428,"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/motion-planning","display_name":"Motion planning","score":0.8472800254821777},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.7491522431373596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820751190185547},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.534958004951477},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.5175561308860779},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5150232315063477},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5112347602844238},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.501227617263794},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.46831828355789185},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4663754105567932},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44148746132850647},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4403519928455353},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3301233649253845},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3115125894546509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30519720911979675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28102758526802063},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09981054067611694},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09584903717041016}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8472800254821777},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.7491522431373596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820751190185547},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.534958004951477},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.5175561308860779},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5150232315063477},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5112347602844238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.501227617263794},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46831828355789185},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4663754105567932},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44148746132850647},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4403519928455353},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3301233649253845},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3115125894546509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30519720911979675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28102758526802063},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09981054067611694},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09584903717041016},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/02783640022066770","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066770","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.22.7821","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.22.7821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://voronoi.sbp.ri.cmu.edu/papers/HGVG-Def.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.42.795","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.42.795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robby.caltech.edu/papers/HGVG1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1516027685","https://openalex.org/W1528246159","https://openalex.org/W1551360398","https://openalex.org/W1824254661","https://openalex.org/W1965440866","https://openalex.org/W1967005434","https://openalex.org/W1976058996","https://openalex.org/W1991328253","https://openalex.org/W2020837531","https://openalex.org/W2024287136","https://openalex.org/W2026762793","https://openalex.org/W2041686115","https://openalex.org/W2092507038","https://openalex.org/W2097856935","https://openalex.org/W2102029938","https://openalex.org/W2119559506","https://openalex.org/W2145916090","https://openalex.org/W2146121861","https://openalex.org/W2164817954","https://openalex.org/W4205424143","https://openalex.org/W4240538936","https://openalex.org/W4242811155","https://openalex.org/W4253601216","https://openalex.org/W6630827198"],"related_works":["https://openalex.org/W2012380850","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":{"The":[0,170],"hierarchical":[1],"generalized":[2],"Voronoi":[3],"graph":[4],"(HGVG)":[5],"is":[6,77,90,96,108,161,176],"a":[7,23,27,42,81,128,150,186,219],"new":[8],"roadmap":[9],"developed":[10],"for":[11,98,167],"sensor-based":[12],"exploration":[13],"in":[14,32,73,117,133,143,185],"unknown":[15],"environments.":[16],"This":[17],"paper":[18,89,119],"defines":[19],"the":[20,45,49,54,57,60,63,68,94,103,115,123,155,174,191,199,202,208,215],"HGVG":[21,55,95,104,156,175,192,216],"structure:":[22],"robot":[24,200],"can":[25,212],"plan":[26,218],"path":[28,43,64,220],"between":[29,221],"two":[30,222],"locations":[31],"its":[33,106],"work":[34],"space":[35,38],"or":[36],"configuration":[37],"by":[39,101,159],"simply":[40],"planning":[41,65,72,100],"onto":[44],"HGVG,":[46,50,70,203],"then":[47,213],"along":[48],"and":[51,164],"finally":[52],"from":[53],"to":[56,80,92,217],"goal.":[58],"Since":[59],"bulk":[61,86],"of":[62,87,114,131,153,173],"occurs":[66],"on":[67,127],"one-dimensional":[69,82],"motion":[71,99,168],"arbitrary":[74,223],"dimensioned":[75],"spaces":[76,132],"virtually":[78],"reduced":[79],"search":[83],"problem.":[84],"A":[85],"this":[88,118],"dedicated":[91],"ensuring":[93],"sufficient":[97,166],"demonstrating":[102],"(with":[105],"links)":[107],"an":[109,180],"arc-wise":[110],"connected":[111],"structure.":[112],"All":[113],"proofs":[116],"that":[120,177,189],"lead":[121],"toward":[122],"connectivity":[124],"result":[125],"focus":[126],"large":[129],"subset":[130],"R":[134,144],"3":[135],",":[136],"but":[137],"wherever":[138],"possible,":[139],"results":[140],"are":[141],"derived":[142],"m":[145],".":[146],"In":[147],"fact,":[148],"under":[149],"strict":[151],"set":[152],"conditions,":[154],"(the":[157],"GVG":[158],"itself)":[160],"indeed":[162],"connected,":[163],"hence":[165],"planning.":[169],"chief":[171],"advantage":[172],"it":[178,204,211],"possesses":[179],"incremental":[181],"construction":[182],"procedure,":[183],"described":[184],"companion":[187],"paper,":[188],"constructs":[190,201],"using":[193],"only":[194],"line-of-sight":[195],"sensor":[196],"data.":[197],"Once":[198],"has":[205],"effectively":[206],"explored":[207],"environment,":[209],"because":[210],"use":[214],"configurations.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":12}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}