{"id":"https://openalex.org/W1528196625","doi":"https://doi.org/10.23919/ecc.1999.7099314","title":"Quadtree decomposition of configuration space for robot motion planning","display_name":"Quadtree decomposition of configuration space for robot motion planning","publication_year":1999,"publication_date":"1999-08-01","ids":{"openalex":"https://openalex.org/W1528196625","doi":"https://doi.org/10.23919/ecc.1999.7099314","mag":"1528196625"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.1999.7099314","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.1999.7099314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"1999 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5057760156","display_name":"J. K\u00fcmpel","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Kumpel","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061513171","display_name":"Jan Sparbert","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Sparbert","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088168487","display_name":"Bernd Tibken","orcid":"https://orcid.org/0000-0002-4639-1487"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Tibken","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028499905","display_name":"E. Hofer","orcid":"https://orcid.org/0000-0002-6531-9122"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"E. P. Hofer","raw_affiliation_strings":["Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Ulm, Ulm, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]},{"raw_affiliation_string":"University of Ulm Department of Measurement, Control and Microtechnology D-89069 Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":1.0676,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7248444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"277","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.995199978351593,"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/quadtree","display_name":"Quadtree","score":0.8251739740371704},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8097981214523315},{"id":"https://openalex.org/keywords/bitmap","display_name":"Bitmap","score":0.7588320970535278},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.740744948387146},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6994980573654175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6121215224266052},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5639711618423462},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5300081968307495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5190880298614502},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5185956954956055},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5071156024932861},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5027220249176025},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48883599042892456},{"id":"https://openalex.org/keywords/graph-traversal","display_name":"Graph traversal","score":0.479534387588501},{"id":"https://openalex.org/keywords/matrix-representation","display_name":"Matrix representation","score":0.4384768605232239},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4137202501296997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39601388573646545},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3597814440727234}],"concepts":[{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.8251739740371704},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8097981214523315},{"id":"https://openalex.org/C3115412","wikidata":"https://www.wikidata.org/wiki/Q1194708","display_name":"Bitmap","level":2,"score":0.7588320970535278},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.740744948387146},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6994980573654175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6121215224266052},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5639711618423462},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5300081968307495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5190880298614502},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5185956954956055},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5071156024932861},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5027220249176025},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48883599042892456},{"id":"https://openalex.org/C96333769","wikidata":"https://www.wikidata.org/wiki/Q907955","display_name":"Graph traversal","level":3,"score":0.479534387588501},{"id":"https://openalex.org/C103275481","wikidata":"https://www.wikidata.org/wiki/Q6787889","display_name":"Matrix representation","level":3,"score":0.4384768605232239},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4137202501296997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39601388573646545},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3597814440727234},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.1999.7099314","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.1999.7099314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"1999 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1969483458","https://openalex.org/W2029243826","https://openalex.org/W2083016274","https://openalex.org/W2154522324","https://openalex.org/W2169528473"],"related_works":["https://openalex.org/W2207790469","https://openalex.org/W4253586140","https://openalex.org/W2042588826","https://openalex.org/W2564967516","https://openalex.org/W1570967635","https://openalex.org/W2756015151","https://openalex.org/W2035303153","https://openalex.org/W1481875428","https://openalex.org/W4291700431","https://openalex.org/W3124044536"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,33,48,59,80,84,103],"method":[4],"to":[5,39,46,88],"solve":[6],"the":[7,14,22,41,55,67,92,95,99],"general":[8],"problem":[9],"of":[10,16,94,98,120],"path":[11,105],"planning":[12],"in":[13,44],"field":[15],"robotics.":[17],"For":[18],"autonomous":[19],"mobile":[20],"robots":[21],"configuration":[23,42,69,100],"space":[24,43,70,97,101],"is":[25,37,64],"given":[26],"by":[27,32],"an":[28],"occupancy":[29],"matrix":[30],"represented":[31],"bitmap.":[34,60],"Quadtree":[35],"decomposition":[36],"used":[38],"decompose":[40],"order":[45],"achieve":[47],"representation,":[49],"which":[50],"needs":[51],"less":[52],"memory":[53],"than":[54],"original":[56],"representation":[57],"with":[58,126],"A":[61,75],"connectivity":[62],"graph":[63,77],"generated":[65],"from":[66],"decomposed":[68],"using":[71,116],"neighbour":[72],"finding":[73],"techniques.":[74],"final":[76],"search":[78,93],"yields":[79],"feasible":[81,104],"path,":[82],"e.g.":[83],"shortest":[85],"path.":[86],"Due":[87],"smaller":[89],"data":[90],"structures":[91],"free":[96],"for":[102,122],"can":[106],"be":[107],"done":[108],"much":[109],"faster.":[110],"The":[111,118],"presented":[112],"algorithms":[113],"are":[114,129],"implemented":[115],"C++.":[117],"results":[119],"simulations":[121],"typical":[123],"environments":[124],"together":[125],"execution":[127],"times":[128],"presented.":[130]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
