{"id":"https://openalex.org/W2167348159","doi":"https://doi.org/10.1177/0278364907079280","title":"Creating High-quality Paths for Motion Planning","display_name":"Creating High-quality Paths for Motion Planning","publication_year":2007,"publication_date":"2007-07-20","ids":{"openalex":"https://openalex.org/W2167348159","doi":"https://doi.org/10.1177/0278364907079280","mag":"2167348159"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907079280","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907079280","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":true,"oa_status":"green","oa_url":"https://dspace.library.uu.nl/handle/1874/31850","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053354361","display_name":"Roland Ger\u00e6rts","orcid":"https://orcid.org/0000-0002-8161-579X"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Roland Geraerts","raw_affiliation_strings":["Institute of Information and Computing Sciences, Utrecht University 3508 TB Utrecht, the Netherlands, {roland,markov}@cs.uu.nl"],"affiliations":[{"raw_affiliation_string":"Institute of Information and Computing Sciences, Utrecht University 3508 TB Utrecht, the Netherlands, {roland,markov}@cs.uu.nl","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109216741","display_name":"Mark H. Overmars","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mark H. Overmars","raw_affiliation_strings":["Institute of Information and Computing Sciences, Utrecht University 3508 TB Utrecht, the Netherlands, {roland,markov}@cs.uu.nl"],"affiliations":[{"raw_affiliation_string":"Institute of Information and Computing Sciences, Utrecht University 3508 TB Utrecht, the Netherlands, {roland,markov}@cs.uu.nl","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053354361"],"corresponding_institution_ids":["https://openalex.org/I193662353"],"apc_list":null,"apc_paid":null,"fwci":4.6028,"has_fulltext":false,"cited_by_count":212,"citation_normalized_percentile":{"value":0.95189057,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"26","issue":"8","first_page":"845","last_page":"863"},"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":0.9951000213623047,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/motion-planning","display_name":"Motion planning","score":0.7356305122375488},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7131922841072083},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6585646271705627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6583091616630554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6299161911010742},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5736758708953857},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.533638596534729},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47764861583709717},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44919630885124207},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.350433349609375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3299211263656616},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19711101055145264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.172275573015213}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7356305122375488},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7131922841072083},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6585646271705627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6583091616630554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6299161911010742},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5736758708953857},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.533638596534729},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47764861583709717},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44919630885124207},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.350433349609375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3299211263656616},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19711101055145264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.172275573015213},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364907079280","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907079280","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:10.1.1.954.9174","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.954.9174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/26/8/845.full.pdf","raw_type":"text"},{"id":"pmh:uu:oai:dspace.library.uu.nl:1874/31850","is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/31850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Robotics Research, 26, 845. SAGE Publications Inc.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:uu:oai:dspace.library.uu.nl:1874/31850","is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/31850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Robotics Research, 26, 845. SAGE Publications Inc.","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4000000059604645,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W599341852","https://openalex.org/W1424654272","https://openalex.org/W1510265196","https://openalex.org/W1519170695","https://openalex.org/W1528629820","https://openalex.org/W1566405224","https://openalex.org/W1847125952","https://openalex.org/W1937587174","https://openalex.org/W1993999483","https://openalex.org/W2013452693","https://openalex.org/W2021118704","https://openalex.org/W2092507038","https://openalex.org/W2100656238","https://openalex.org/W2111994433","https://openalex.org/W2120838877","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2144481803","https://openalex.org/W2145778183","https://openalex.org/W2154574107","https://openalex.org/W2163670193","https://openalex.org/W2165143557","https://openalex.org/W2218021848","https://openalex.org/W2539881804","https://openalex.org/W2611243847","https://openalex.org/W2913400639","https://openalex.org/W4247382745"],"related_works":["https://openalex.org/W2799139340","https://openalex.org/W2000120653","https://openalex.org/W2037851209","https://openalex.org/W2176548496","https://openalex.org/W1962141875","https://openalex.org/W1570961203","https://openalex.org/W2006880954","https://openalex.org/W2514893988","https://openalex.org/W2912962943","https://openalex.org/W2099144379"],"abstract_inverted_index":{"Many":[0],"algorithms":[1,121,176],"have":[2,98],"been":[3],"proposed":[4],"that":[5,125,178,202],"create":[6],"a":[7,10,23,34,41,60,84,118,152,209],"path":[8,30,42,61,93],"for":[9,26,208],"robot":[11],"in":[12,100,166],"an":[13],"environment":[14],"with":[15,140],"obstacles.":[16,56],"Most":[17],"methods":[18,97],"are":[19,122],"aimed":[20],"at":[21,117],"finding":[22],"solution.":[24],"However,":[25],"many":[27],"applications,":[28],"the":[29,55,63,69,75,79,92,105,127,197],"must":[31],"be":[32,44,184,206],"of":[33,51,65,71,78,115,155,174,212],"good":[35],"quality":[36],"as":[37],"well.":[38],"That":[39],"is,":[40],"should":[43,47],"short":[45],"and":[46,73,160,192,200],"keep":[48],"some":[49],"amount":[50],"minimum":[52],"clearance":[53,128,179],"to":[54,68],"Traveling":[57],"along":[58,129,180],"such":[59],"reduces":[62],"chances":[64],"collisions":[66],"due":[67],"difficulty":[70],"measuring":[72],"controlling":[74],"precise":[76],"position":[77],"robot.":[80],"This":[81],"paper":[82],"reports":[83],"new":[85],"technique,":[86],"called":[87],"Partial":[88],"shortcut,":[89],"which":[90,163],"decreases":[91],"length.":[94],"While":[95],"current":[96],"difficulties":[99],"removing":[101],"all":[102],"redundant":[103],"motions,":[104],"technique":[106],"efficiently":[107,186],"removes":[108],"these":[109,175],"motions":[110],"by":[111],"interpolating":[112],"one":[113,133],"degree":[114],"freedom":[116],"time.":[119],"Two":[120],"also":[123],"studied":[124],"increase":[126],"paths.":[130],"The":[131,144],"first":[132],"is":[134,147,177],"fast":[135],"but":[136,149],"can":[137,150,182,205],"only":[138],"deal":[139],"rigid,":[141],"translating":[142],"bodies.":[143],"second":[145],"algorithm":[146],"slower":[148],"handle":[151],"broader":[153],"range":[154,211],"robots,":[156,162],"including":[157],"three-dimensional":[158],"free-flying":[159],"articulated":[161],"may":[164],"reside":[165],"arbitrary":[167],"high-dimensional":[168],"configuration":[169],"spaces.":[170],"A":[171],"big":[172],"advantage":[173],"paths":[181,204],"now":[183],"increased":[185],"without":[187],"using":[188],"complex":[189],"data":[190],"structures":[191],"algorithms.":[193],"Finally,":[194],"we":[195],"combine":[196],"two":[198],"criteria":[199],"show":[201],"high-quality":[203],"obtained":[207],"broad":[210],"robots.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":21},{"year":2013,"cited_by_count":17},{"year":2012,"cited_by_count":9}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
