{"id":"https://openalex.org/W2999034420","doi":"https://doi.org/10.2478/amcs-2019-0047","title":"Multiquery Motion Planning in Uncertain Spaces: Incremental Adaptive Randomized Roadmaps","display_name":"Multiquery Motion Planning in Uncertain Spaces: Incremental Adaptive Randomized Roadmaps","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2999034420","doi":"https://doi.org/10.2478/amcs-2019-0047","mag":"2999034420"},"language":"en","primary_location":{"id":"doi:10.2478/amcs-2019-0047","is_oa":true,"landing_page_url":"https://doi.org/10.2478/amcs-2019-0047","pdf_url":"https://content.sciendo.com/downloadpdf/journals/amcs/29/4/article-p641.pdf","source":{"id":"https://openalex.org/S117679522","display_name":"International Journal of Applied Mathematics and Computer Science","issn_l":"1641-876X","issn":["1641-876X","2083-8492"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Applied Mathematics and Computer Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://content.sciendo.com/downloadpdf/journals/amcs/29/4/article-p641.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061869177","display_name":"Weria Khaksar","orcid":"https://orcid.org/0000-0002-6400-3150"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Weria Khaksar","raw_affiliation_strings":["Robotics and Intelligent Systems Group (ROBIN), Department of Informatics , University of Oslo , Ole Johan Dahls hus, Gaustadallen 23 B, N- 0373 Oslo , Norway"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Systems Group (ROBIN), Department of Informatics , University of Oslo , Ole Johan Dahls hus, Gaustadallen 23 B, N- 0373 Oslo , Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051442365","display_name":"Md. Zia Uddin","orcid":"https://orcid.org/0000-0002-5215-1834"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Md Zia Uddin","raw_affiliation_strings":["Robotics and Intelligent Systems Group (ROBIN), Department of Informatics , University of Oslo , Ole Johan Dahls hus, Gaustadallen 23 B, N- 0373 Oslo , Norway"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Systems Group (ROBIN), Department of Informatics , University of Oslo , Ole Johan Dahls hus, Gaustadallen 23 B, N- 0373 Oslo , Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071144214","display_name":"Jim T\u00f8rresen","orcid":"https://orcid.org/0000-0003-0556-0288"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jim Torresen","raw_affiliation_strings":["Robotics and Intelligent Systems Group (ROBIN), Department of Informatics , University of Oslo , Ole Johan Dahls hus, Gaustadallen 23 B, N- 0373 Oslo , Norway"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Systems Group (ROBIN), Department of Informatics , University of Oslo , Ole Johan Dahls hus, Gaustadallen 23 B, N- 0373 Oslo , Norway","institution_ids":["https://openalex.org/I184942183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061869177"],"corresponding_institution_ids":["https://openalex.org/I184942183"],"apc_list":{"value":4080,"currency":"PLN","value_usd":1100},"apc_paid":{"value":4080,"currency":"PLN","value_usd":1100},"fwci":0.2044,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56584834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"29","issue":"4","first_page":"641","last_page":"654"},"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":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9883000254631042,"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/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.8146921396255493},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7317410707473755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7033186554908752},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.683130145072937},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6639572978019714},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5937898755073547},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.564226508140564},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5052550435066223},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.44665050506591797},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4277557134628296},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.41520237922668457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3852190673351288},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37131205201148987},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3351523280143738},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16945314407348633},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15981027483940125}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.8146921396255493},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7317410707473755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7033186554908752},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.683130145072937},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6639572978019714},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5937898755073547},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.564226508140564},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5052550435066223},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.44665050506591797},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4277557134628296},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.41520237922668457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3852190673351288},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37131205201148987},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3351523280143738},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16945314407348633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15981027483940125},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.2478/amcs-2019-0047","is_oa":true,"landing_page_url":"https://doi.org/10.2478/amcs-2019-0047","pdf_url":"https://content.sciendo.com/downloadpdf/journals/amcs/29/4/article-p641.pdf","source":{"id":"https://openalex.org/S117679522","display_name":"International Journal of Applied Mathematics and Computer Science","issn_l":"1641-876X","issn":["1641-876X","2083-8492"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Applied Mathematics and Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a808f22e684d4466b683d341afd92842","is_oa":true,"landing_page_url":"https://doaj.org/article/a808f22e684d4466b683d341afd92842","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Applied Mathematics and Computer Science, Vol 29, Iss 4, Pp 641-654 (2019)","raw_type":"article"},{"id":"pmh:oai:www.duo.uio.no:10852/77459","is_oa":true,"landing_page_url":"http://hdl.handle.net/10852/77459","pdf_url":null,"source":{"id":"https://openalex.org/S4306401717","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"1641-876X","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.2478/amcs-2019-0047","is_oa":true,"landing_page_url":"https://doi.org/10.2478/amcs-2019-0047","pdf_url":"https://content.sciendo.com/downloadpdf/journals/amcs/29/4/article-p641.pdf","source":{"id":"https://openalex.org/S117679522","display_name":"International Journal of Applied Mathematics and Computer Science","issn_l":"1641-876X","issn":["1641-876X","2083-8492"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Applied Mathematics and Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1253992222","display_name":null,"funder_award_id":"247697","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"},{"id":"https://openalex.org/G3748656914","display_name":null,"funder_award_id":"Norway","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2999034420.pdf","grobid_xml":"https://content.openalex.org/works/W2999034420.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1516027685","https://openalex.org/W1521785144","https://openalex.org/W1712772804","https://openalex.org/W1971086298","https://openalex.org/W1977972789","https://openalex.org/W1989616359","https://openalex.org/W2000359213","https://openalex.org/W2002222089","https://openalex.org/W2024382047","https://openalex.org/W2036016432","https://openalex.org/W2055201760","https://openalex.org/W2072033067","https://openalex.org/W2072195747","https://openalex.org/W2087179560","https://openalex.org/W2103052138","https://openalex.org/W2104691494","https://openalex.org/W2117828438","https://openalex.org/W2121180190","https://openalex.org/W2123312258","https://openalex.org/W2128990851","https://openalex.org/W2130999558","https://openalex.org/W2161675447","https://openalex.org/W2167805536","https://openalex.org/W2168992242","https://openalex.org/W2220598228","https://openalex.org/W2221873305","https://openalex.org/W2306644740","https://openalex.org/W2335799662","https://openalex.org/W2467632359","https://openalex.org/W2735603972","https://openalex.org/W2772834569","https://openalex.org/W2786893837","https://openalex.org/W2791820620","https://openalex.org/W2807095006","https://openalex.org/W2894757447","https://openalex.org/W2909882608","https://openalex.org/W2949117375","https://openalex.org/W2962827902","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2023024008","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2394276631"],"abstract_inverted_index":{"Abstract":[0],"Sampling-based":[1],"motion":[2,11],"planning":[3,12,28,97],"is":[4,50,73,254],"a":[5,15,47,69,84,114,128,146,187,230,261],"powerful":[6],"tool":[7],"in":[8,43,58,113,127,145,237,263],"solving":[9],"the":[10,33,40,44,77,123,132,152,158,161,164,180,184,194,204,240,243,247],"problem":[13],"for":[14,222],"variety":[16],"of":[17,35,39,46,96,160,183,190,227,239],"different":[18,265],"robotic":[19],"platforms.":[20],"As":[21,149],"its":[22,51],"application":[23],"domains":[24],"grow,":[25],"more":[26,206],"complicated":[27],"problems":[29,223],"arise":[30],"that":[31,82],"challenge":[32],"functionality":[34],"these":[36],"planners.":[37],"One":[38],"main":[41],"challenges":[42],"implementation":[45],"sampling-based":[48,71],"planner":[49,72,205,253],"weak":[52],"performance":[53],"when":[54],"reacting":[55],"to":[56,92,140,193,208,210,216],"uncertainty":[57,98,211,228],"robot":[59,153],"motion,":[60,62],"obstacles":[61,107],"and":[63,88,105,108,142,174,246,258],"sensing":[64,101],"noise.":[65],"In":[66],"this":[67],"paper,":[68],"multi-query":[70],"presented":[74],"based":[75],"on":[76,260],"optimal":[78],"probabilistic":[79],"roadmaps":[80],"algorithm":[81],"employs":[83],"hybrid":[85],"sample":[86],"classification":[87],"graph":[89],"adjustment":[90],"strategy":[91],"handle":[93],"diverse":[94],"types":[95],"such":[99],"as":[100,151],"noise,":[102],"unknown":[103],"static":[104],"dynamic":[106],"an":[109,155,217],"inaccurate":[110],"environment":[111],"map":[112],"discrete-time":[115],"system.":[116],"The":[117,219,252],"proposed":[118],"method":[119],"starts":[120],"by":[121],"storing":[122],"collision-free":[124],"generated":[125],"samples":[126,144,171],"matrix-grid":[129],"structure.":[130],"Using":[131],"resulting":[133],"grid":[134,166],"structure":[135],"makes":[136],"it":[137],"computationally":[138],"cheap":[139],"search":[141],"find":[143],"specific":[147],"region.":[148],"soon":[150],"senses":[154],"obstacle":[156],"during":[157],"execution":[159],"initial":[162],"plan,":[163],"occupied":[165],"cells":[167],"are":[168,172,177,198],"detected,":[169],"relevant":[170],"selected,":[173],"in-collision":[175],"vertices":[176],"removed":[178],"within":[179],"vision":[181],"range":[182],"robot.":[185],"Furthermore,":[186],"second":[188],"layer":[189],"nodes":[191],"connected":[192],"current":[195],"direct":[196],"neighbors":[197],"checked":[199],"against":[200],"collision,":[201],"which":[202],"gives":[203],"time":[207,245],"react":[209],"before":[212],"getting":[213],"too":[214],"close":[215],"obstacle.":[218],"simulation":[220],"results":[221],"with":[224,234,267],"various":[225],"sources":[226],"show":[229],"significant":[231],"improvement":[232],"compared":[233],"similar":[235],"algorithms":[236],"terms":[238],"failure":[241],"rate,":[242],"processing":[244],"minimum":[248],"distance":[249],"from":[250],"obstacles.":[251],"also":[255],"successfully":[256],"implemented":[257],"tested":[259],"TurtleBot":[262],"four":[264],"scenarios":[266],"uncertainty.":[268]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2020-01-23T00:00:00"}