{"id":"https://openalex.org/W2322009139","doi":"https://doi.org/10.1177/0278364915603225","title":"Online collision prediction among 2D polygonal and articulated obstacles","display_name":"Online collision prediction among 2D polygonal and articulated obstacles","publication_year":2015,"publication_date":"2015-10-19","ids":{"openalex":"https://openalex.org/W2322009139","doi":"https://doi.org/10.1177/0278364915603225","mag":"2322009139"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915603225","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915603225","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/A5026636989","display_name":"Yanyan Lu","orcid":"https://orcid.org/0000-0003-2296-9309"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanyan Lu","raw_affiliation_strings":["Department of Computer Science, George Mason University, VA,\r          USA","Department of Computer Science, George Mason University, VA,\r USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA,\r          USA","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA,\r USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019766344","display_name":"Zhonghua Xi","orcid":"https://orcid.org/0000-0002-7147-3476"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhonghua Xi","raw_affiliation_strings":["Department of Computer Science, George Mason University, VA,\r          USA","Department of Computer Science, George Mason University, VA,\r USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA,\r          USA","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA,\r USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019967864","display_name":"Jyh\u2010Ming Lien","orcid":"https://orcid.org/0000-0002-0840-6131"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jyh-Ming Lien","raw_affiliation_strings":["Department of Computer Science, George Mason University, VA,\r          USA","Department of Computer Science, George Mason University, VA,\r USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA,\r          USA","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA,\r USA","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5019967864"],"corresponding_institution_ids":["https://openalex.org/I162714631"],"apc_list":null,"apc_paid":null,"fwci":0.7347,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.80262981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":"5","first_page":"476","last_page":"500"},"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/collision","display_name":"Collision","score":0.7673973441123962},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7118344306945801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6817381381988525},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6686396598815918},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5827990174293518},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5533878803253174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.539061427116394},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5365102291107178},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5341896414756775},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5260850191116333},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5115171670913696},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5023515224456787},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4762463867664337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47361159324645996},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4083203077316284},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4080309569835663},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32611215114593506}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7673973441123962},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7118344306945801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817381381988525},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6686396598815918},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5827990174293518},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5533878803253174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.539061427116394},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5365102291107178},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5341896414756775},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5260850191116333},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5115171670913696},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5023515224456787},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4762463867664337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47361159324645996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4083203077316284},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4080309569835663},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32611215114593506},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915603225","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915603225","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W47556920","https://openalex.org/W131069610","https://openalex.org/W198732646","https://openalex.org/W255922872","https://openalex.org/W1485130525","https://openalex.org/W1589443075","https://openalex.org/W1963649406","https://openalex.org/W1979743043","https://openalex.org/W1982864747","https://openalex.org/W1994691148","https://openalex.org/W1999250663","https://openalex.org/W1999839266","https://openalex.org/W2002440441","https://openalex.org/W2021667711","https://openalex.org/W2023473795","https://openalex.org/W2028951372","https://openalex.org/W2030558783","https://openalex.org/W2044029100","https://openalex.org/W2094539937","https://openalex.org/W2097096168","https://openalex.org/W2101033030","https://openalex.org/W2101821104","https://openalex.org/W2103120971","https://openalex.org/W2104691494","https://openalex.org/W2108643443","https://openalex.org/W2111112078","https://openalex.org/W2120399177","https://openalex.org/W2121431281","https://openalex.org/W2122439897","https://openalex.org/W2124348791","https://openalex.org/W2127152880","https://openalex.org/W2133765004","https://openalex.org/W2136264806","https://openalex.org/W2136832785","https://openalex.org/W2136947569","https://openalex.org/W2141664020","https://openalex.org/W2145398363","https://openalex.org/W2150495833","https://openalex.org/W2154722715","https://openalex.org/W2165216595","https://openalex.org/W2168507359","https://openalex.org/W2294663333","https://openalex.org/W3028243704","https://openalex.org/W3142707146","https://openalex.org/W3143334844","https://openalex.org/W4247582681"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W1568779110","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W804484174","https://openalex.org/W4245435724","https://openalex.org/W4381746183","https://openalex.org/W2394276631","https://openalex.org/W3216096898"],"abstract_inverted_index":{"Collision":[0],"prediction":[1,51,124],"is":[2],"a":[3,35,45,87,112,118,127],"fundamental":[4],"operation":[5],"for":[6,129],"planning":[7],"motion":[8,77],"in":[9,23],"dynamic":[10,21,146],"environments.":[11],"Existing":[12],"methods":[13,28,141],"usually":[14],"exploit":[15],"complex":[16,132],"behavior":[17,144],"models":[18],"or":[19],"use":[20],"constraints":[22,147],"collision":[24,50,66,123],"prediction.":[25],"However,":[26],"these":[27],"all":[29],"assume":[30],"simple":[31,151],"geometry,":[32],"such":[33],"as":[34],"disc,":[36],"which":[37],"significantly":[38,104],"limits":[39],"their":[40],"applicability.":[41],"This":[42],"paper":[43],"proposes":[44],"new":[46,63,102],"approach":[47,137],"that":[48,69,79,89,100,142],"advances":[49],"beyond":[52],"disc":[53],"robots":[54],"and":[55,59,86,134,145],"handles":[56],"arbitrary":[57],"polygons":[58],"articulated":[60],"objects.":[61],"Our":[62,121],"tool":[64,128],"predicts":[65],"by":[67],"assuming":[68],"obstacles":[70],"are":[71],"adversarial.":[72],"Comparing":[73],"to":[74,139],"an":[75,136],"online":[76],"planner":[78,88],"replans":[80,109],"periodically":[81],"at":[82],"fixed":[83],"time":[84],"intervals":[85],"approximates":[90],"obstacle":[91],"with":[92,150],"discs,":[93],"our":[94],"experimental":[95],"results":[96],"provide":[97],"strong":[98],"evidence":[99],"the":[101,106],"method":[103,125],"reduces":[105],"number":[107],"of":[108,116,148],"while":[110],"maintaining":[111],"higher":[113],"success":[114],"rate":[115],"finding":[117],"valid":[119],"path.":[120],"geometric-based":[122],"provides":[126,135],"handling":[130],"highly":[131],"shapes":[133],"complementary":[138],"those":[140],"consider":[143],"objects":[149],"shapes.":[152]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
