{"id":"https://openalex.org/W2031124554","doi":"https://doi.org/10.1177/027836499801700504","title":"A Shortest Path Algorithm for a Carlike Robot in a Polygonal Environment","display_name":"A Shortest Path Algorithm for a Carlike Robot in a Polygonal Environment","publication_year":1998,"publication_date":"1998-05-01","ids":{"openalex":"https://openalex.org/W2031124554","doi":"https://doi.org/10.1177/027836499801700504","mag":"2031124554"},"language":"en","primary_location":{"id":"doi:10.1177/027836499801700504","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700504","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/A5020707737","display_name":"Guy Desaulniers","orcid":"https://orcid.org/0000-0003-4469-9813"},"institutions":[{"id":"https://openalex.org/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guy Desaulniers","raw_affiliation_strings":["GERAD and \u00c9cole Polytechnique Montr\u00e9al, Qu\u00e9bec, Canada H3T 2A7"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GERAD and \u00c9cole Polytechnique Montr\u00e9al, Qu\u00e9bec, Canada H3T 2A7","institution_ids":["https://openalex.org/I45683168","https://openalex.org/I4210133247"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113226283","display_name":"Fran\u00e7ois Soumis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210133247","display_name":"Group for Research in Decision Analysis","ror":"https://ror.org/02pkvpx84","country_code":"CA","type":"facility","lineage":["https://openalex.org/I108192572","https://openalex.org/I159129438","https://openalex.org/I4210133247","https://openalex.org/I45683168","https://openalex.org/I49663120","https://openalex.org/I5023651"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Fran\u00e7ois Soumis","raw_affiliation_strings":["GERAD and \u00c9cole Polytechnique Montr\u00e9al, Qu\u00e9bec, Canada H3T 2A7"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GERAD and \u00c9cole Polytechnique Montr\u00e9al, Qu\u00e9bec, Canada H3T 2A7","institution_ids":["https://openalex.org/I45683168","https://openalex.org/I4210133247"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033492804","display_name":"Jean-Charles Laurent","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Charles Laurent","raw_affiliation_strings":["AD OPT Technologies Inc. Montr\u00e9al, Qu\u00e9bec, Canada H3V 1G4"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AD OPT Technologies Inc. Montr\u00e9al, Qu\u00e9bec, Canada H3V 1G4","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0001,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77571135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"17","issue":"5","first_page":"512","last_page":"530"},"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":0.9936000108718872,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9830999970436096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.7624884843826294},{"id":"https://openalex.org/keywords/euclidean-shortest-path","display_name":"Euclidean shortest path","score":0.7289544343948364},{"id":"https://openalex.org/keywords/yens-algorithm","display_name":"Yen's algorithm","score":0.6109026074409485},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5784058570861816},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5527191162109375},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5404428243637085},{"id":"https://openalex.org/keywords/k-shortest-path-routing","display_name":"K shortest path routing","score":0.5363105535507202},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.510218620300293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045353174209595},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4832954704761505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47356855869293213},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4520166516304016},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.44475293159484863},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4354839324951172},{"id":"https://openalex.org/keywords/shortest-path-faster-algorithm","display_name":"Shortest Path Faster Algorithm","score":0.43324461579322815},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4331214427947998},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4211265444755554},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4123297929763794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35677748918533325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3260538876056671},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.29237526655197144},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17592886090278625},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08963838219642639},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.078881174325943}],"concepts":[{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.7624884843826294},{"id":"https://openalex.org/C170836113","wikidata":"https://www.wikidata.org/wiki/Q5406126","display_name":"Euclidean shortest path","level":5,"score":0.7289544343948364},{"id":"https://openalex.org/C119971455","wikidata":"https://www.wikidata.org/wiki/Q8052172","display_name":"Yen's algorithm","level":5,"score":0.6109026074409485},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5784058570861816},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5527191162109375},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5404428243637085},{"id":"https://openalex.org/C70266271","wikidata":"https://www.wikidata.org/wiki/Q6343044","display_name":"K shortest path routing","level":4,"score":0.5363105535507202},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.510218620300293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045353174209595},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4832954704761505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47356855869293213},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4520166516304016},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.44475293159484863},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4354839324951172},{"id":"https://openalex.org/C168451585","wikidata":"https://www.wikidata.org/wiki/Q7502159","display_name":"Shortest Path Faster Algorithm","level":5,"score":0.43324461579322815},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4331214427947998},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4211265444755554},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4123297929763794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35677748918533325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3260538876056671},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.29237526655197144},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17592886090278625},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08963838219642639},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.078881174325943},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499801700504","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700504","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:publications.polymtl.ca:29727","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/29727/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article de revue"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1526351240","https://openalex.org/W1971998222","https://openalex.org/W1977473135","https://openalex.org/W2001804342","https://openalex.org/W2118175378","https://openalex.org/W2148970883","https://openalex.org/W2152053668","https://openalex.org/W2156706225","https://openalex.org/W2158380902","https://openalex.org/W2166034910","https://openalex.org/W2167045953","https://openalex.org/W2170508483","https://openalex.org/W2313274380","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2360981904","https://openalex.org/W2347245430","https://openalex.org/W2562562750","https://openalex.org/W2377950158","https://openalex.org/W651485002","https://openalex.org/W4293054712","https://openalex.org/W2375775343","https://openalex.org/W4200172719","https://openalex.org/W2112429204","https://openalex.org/W1617152041"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,40,61,64,92,100,111,118,125,128],"problem":[4],"of":[5,35,52,82],"finding":[6,83],"a":[7,13,22,26,32,45,50,53,71,77,84,88,121],"shortest":[8,85],"collision-":[9],"free":[10],"path":[11,54,86],"for":[12,39],"carlike":[14],"point":[15],"robot":[16,112],"maneuvering":[17],"around":[18],"polygonal":[19,27],"obstacles":[20],"in":[21,43,87,109],"room":[23],"bounded":[24],"by":[25],"line.":[28],"The":[29,74,103],"authors":[30,75,104,126],"introduce":[31],"sufficient":[33,101],"set":[34],"56":[36],"subpath":[37,46],"types":[38,97],"no-obstacle":[41],"case":[42],"which":[44,110],"is":[47,113],"defined":[48],"as":[49],"piece":[51],"that":[55,80],"starts":[56],"and":[57],"ends":[58],"at":[59,120],"either":[60],"initial":[62],"position,":[63,66],"final":[65],"or":[67],"any":[68],"position":[69],"on":[70,117],"cell":[72],"boundary.":[73],"propose":[76],"near-optimal":[78],"algorithm":[79,108],"consists":[81],"search":[89],"graph":[90],"where":[91],"arcs":[93],"represent":[94],"subpaths":[95],"whose":[96],"belong":[98],"to":[99,115],"set.":[102],"then":[105],"study":[106],"an":[107],"allowed":[114],"turn":[116],"spot":[119],"certain":[122],"cost.":[123],"Finally,":[124],"compare":[127],"solutions":[129],"derived":[130],"from":[131],"both":[132],"algorithms.":[133]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}