{"id":"https://openalex.org/W1978397348","doi":"https://doi.org/10.1177/027836498800700104","title":"Real-Time Pathfinding in Multirobot Systems Including Obstacle Avoidance","display_name":"Real-Time Pathfinding in Multirobot Systems Including Obstacle Avoidance","publication_year":1988,"publication_date":"1988-02-01","ids":{"openalex":"https://openalex.org/W1978397348","doi":"https://doi.org/10.1177/027836498800700104","mag":"1978397348"},"language":"en","primary_location":{"id":"doi:10.1177/027836498800700104","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498800700104","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/A5108541185","display_name":"\u0395. Freund","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"E. Freund","raw_affiliation_strings":["Institut f\u00fcr Roboterforschung (IRF) University of Dortmund 4600 Dortmund, West Germany"],"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Roboterforschung (IRF) University of Dortmund 4600 Dortmund, West Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078502784","display_name":"Helmut Hoyer","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Hoyer","raw_affiliation_strings":["Institut f\u00fcr Roboterforschung (IRF) University of Dortmund 4600 Dortmund, West Germany"],"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Roboterforschung (IRF) University of Dortmund 4600 Dortmund, West Germany","institution_ids":["https://openalex.org/I200332995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5108541185"],"corresponding_institution_ids":["https://openalex.org/I200332995"],"apc_list":null,"apc_paid":null,"fwci":7.8263,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.97211982,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":"1","first_page":"42","last_page":"70"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/collision-avoidance","display_name":"Collision avoidance","score":0.886798620223999},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8722955584526062},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.7811688184738159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6166531443595886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6111093163490295},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5661611557006836},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5614146590232849},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5314452052116394},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.433788925409317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3886794447898865},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3312230408191681},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.11257925629615784}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.886798620223999},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8722955584526062},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.7811688184738159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6166531443595886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6111093163490295},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5661611557006836},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5614146590232849},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5314452052116394},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.433788925409317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3886794447898865},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3312230408191681},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.11257925629615784},{"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},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836498800700104","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498800700104","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W151382553","https://openalex.org/W178040334","https://openalex.org/W1556795538","https://openalex.org/W1970066360","https://openalex.org/W1978023077","https://openalex.org/W2002519566","https://openalex.org/W2008201056","https://openalex.org/W2079694260","https://openalex.org/W2103120971","https://openalex.org/W2112557848","https://openalex.org/W2163178194","https://openalex.org/W2166462345","https://openalex.org/W2166485770","https://openalex.org/W2812249234"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W1978397348"],"abstract_inverted_index":{"The":[0,19,70,121],"paper":[1,56],"describes":[2],"an":[3,25,106],"approach":[4,27,126],"to":[5,51],"the":[6,9,33,36,45,48,57,65,86,99,124],"solution":[7],"of":[8,21,32,47,59,123,135,146,158,166],"find":[10],"path":[11],"problem,":[12],"including":[13,35,44,164],"obstacle":[14],"avoidance":[15,101,110,141],"in":[16],"multirobot":[17,22,82],"systems.":[18],"design":[20,79],"systems":[23,61],"requires":[24],"overall":[26],"where":[28,98],"not":[29],"only":[30],"parts":[31],"structure,":[34],"hierarchy":[37],"are":[38],"considered,":[39],"but":[40],"a":[41,77,151],"complete":[42],"concept,":[43],"dynamics":[46],"robots,":[49,144],"has":[50],"be":[52],"developed.":[53],"In":[54],"this":[55],"structure":[58],"these":[60],"is":[62,92,103,130],"based":[63,104],"on":[64,105],"nonlinear":[66],"con":[67],"trol":[68],"approach.":[69],"method":[71],"for":[72,81,94,114,127],"real-time":[73,95,128],"pathfinding":[74,129],"itself":[75],"uses":[76],"systematic":[78],"procedure":[80],"systems,":[83],"which":[84],"includes":[85],"hierarchical":[87,90],"coordinator.":[88],"This":[89],"coordinator":[91],"designed":[93],"collision":[96,100,115,140],"avoidance,":[97],"strategy":[102],"analyti":[107],"cally":[108],"described":[109],"trajectory":[111],"that":[112],"serves":[113],"detection":[116],"as":[117,119,139,154,156],"well":[118,155],"avoidance.":[120],"efficiency":[122],"new":[125],"demonstrated":[131],"by":[132],"several":[133],"cases":[134],"practical":[136],"interest,":[137],"such":[138],"between":[142],"three":[143,147],"interaction":[145,157],"stationary":[148,152],"robots":[149,160],"and":[150,161,169],"obstacle,":[153],"mobile":[159],"moving":[162],"obstacles,":[163],"obstacles":[165],"variable":[167],"size":[168],"different":[170],"shapes.":[171]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}