{"id":"https://openalex.org/W4413279693","doi":"https://doi.org/10.3390/info16080700","title":"Path Planning with Adaptive Autonomy Based on an Improved A\u2217 Algorithm and Dynamic Programming for Mobile Robots","display_name":"Path Planning with Adaptive Autonomy Based on an Improved A\u2217 Algorithm and Dynamic Programming for Mobile Robots","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4413279693","doi":"https://doi.org/10.3390/info16080700"},"language":"en","primary_location":{"id":"doi:10.3390/info16080700","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info16080700","pdf_url":"https://www.mdpi.com/2078-2489/16/8/700/pdf?version=1755421639","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2078-2489/16/8/700/pdf?version=1755421639","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090479586","display_name":"Muhammad Aatif","orcid":"https://orcid.org/0000-0003-1924-784X"},"institutions":[{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Muhammad Aatif","raw_affiliation_strings":["Department of Engineering, University of Sannio, 82100 Benevento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1924-784X","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Sannio, 82100 Benevento, Italy","institution_ids":["https://openalex.org/I16337185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082050091","display_name":"Muhammad Zeeshan Baig","orcid":"https://orcid.org/0000-0002-0902-9497"},"institutions":[{"id":"https://openalex.org/I198034347","display_name":"Wentworth Institute of Technology","ror":"https://ror.org/03tqeft14","country_code":"US","type":"education","lineage":["https://openalex.org/I198034347"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Zeeshan Baig","raw_affiliation_strings":["Department of Information Technology, Wentworth Institute of Higher Education, Sydney 2010, Australia"],"raw_orcid":"https://orcid.org/0000-0002-0902-9497","affiliations":[{"raw_affiliation_string":"Department of Information Technology, Wentworth Institute of Higher Education, Sydney 2010, Australia","institution_ids":["https://openalex.org/I198034347"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010212674","display_name":"Umar Adeel","orcid":"https://orcid.org/0000-0002-1779-4877"},"institutions":[{"id":"https://openalex.org/I4210153389","display_name":"American University of Ras Al Khaimah","ror":"https://ror.org/0440yjn92","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210153389"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Umar Adeel","raw_affiliation_strings":["Department of Computer Science and Engineering, American University of Ras al Khaimah, Ras al Khaimah 72603, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-1779-4877","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, American University of Ras al Khaimah, Ras al Khaimah 72603, United Arab Emirates","institution_ids":["https://openalex.org/I4210153389"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007253019","display_name":"Ammar Rashid","orcid":"https://orcid.org/0000-0002-8642-6218"},"institutions":[{"id":"https://openalex.org/I182000528","display_name":"Ajman University","ror":"https://ror.org/01j1rma10","country_code":"AE","type":"education","lineage":["https://openalex.org/I182000528"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Ammar Rashid","raw_affiliation_strings":["Department of IT, College of Engineering and IT, Ajman University, Ajman P.O. Box 346, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-8642-6218","affiliations":[{"raw_affiliation_string":"Department of IT, College of Engineering and IT, Ajman University, Ajman P.O. Box 346, United Arab Emirates","institution_ids":["https://openalex.org/I182000528"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010212674"],"corresponding_institution_ids":["https://openalex.org/I4210153389"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":2.8341,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91499491,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"16","issue":"8","first_page":"700","last_page":"700"},"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/T12288","display_name":"Optimization and Search Problems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5953308343887329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5813924074172974},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5773015022277832},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5698493719100952},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5267742872238159},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.513587474822998},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3922663629055023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38027989864349365},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3568722605705261},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11123481392860413},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.1050330102443695}],"concepts":[{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5953308343887329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5813924074172974},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5773015022277832},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5698493719100952},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5267742872238159},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.513587474822998},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3922663629055023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38027989864349365},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3568722605705261},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11123481392860413},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.1050330102443695},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/info16080700","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info16080700","pdf_url":"https://www.mdpi.com/2078-2489/16/8/700/pdf?version=1755421639","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ec8590236ae942cca3c38b071ffb56e5","is_oa":true,"landing_page_url":"https://doaj.org/article/ec8590236ae942cca3c38b071ffb56e5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Information, Vol 16, Iss 8, p 700 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/info16080700","is_oa":true,"landing_page_url":"https://doi.org/10.3390/info16080700","pdf_url":"https://www.mdpi.com/2078-2489/16/8/700/pdf?version=1755421639","source":{"id":"https://openalex.org/S4210219776","display_name":"Information","issn_l":"2078-2489","issn":["2078-2489"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Information","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413279693.pdf","grobid_xml":"https://content.openalex.org/works/W4413279693.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1580721220","https://openalex.org/W1653469883","https://openalex.org/W1684737195","https://openalex.org/W1969483458","https://openalex.org/W1977253332","https://openalex.org/W1997063273","https://openalex.org/W2036016432","https://openalex.org/W2083455089","https://openalex.org/W2118223742","https://openalex.org/W2125409550","https://openalex.org/W2145432448","https://openalex.org/W2150420538","https://openalex.org/W2162991084","https://openalex.org/W2487365028","https://openalex.org/W2557741120","https://openalex.org/W2933050599","https://openalex.org/W2963523627","https://openalex.org/W3021208093","https://openalex.org/W3022683862","https://openalex.org/W4256045465","https://openalex.org/W4295548782","https://openalex.org/W4309398528","https://openalex.org/W4322502685","https://openalex.org/W4380901158","https://openalex.org/W4385252024","https://openalex.org/W4391761821","https://openalex.org/W4392815494","https://openalex.org/W4393036955","https://openalex.org/W6730308440","https://openalex.org/W6776694869"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W2150982344","https://openalex.org/W4292862729"],"abstract_inverted_index":{"Sustainable":[0],"path-planning":[1,58,243],"algorithms":[2,295],"are":[3],"essential":[4],"for":[5,31,45,256],"executing":[6],"complex":[7],"user-defined":[8],"missions":[9],"by":[10],"mobile":[11,235],"robots.":[12],"Addressing":[13],"various":[14],"scenarios":[15,262],"with":[16,65],"a":[17,71,145,152,167,180,270],"unified":[18],"criterion":[19],"during":[20,177],"the":[21,29,40,51,56,77,89,93,97,100,103,107,110,114,118,122,125,129,132,164,171,174,185,200,203,213,242,254,298],"design":[22],"phase":[23,240],"is":[24,36,84,138,183,197],"often":[25],"impractical":[26],"due":[27],"to":[28,38,53,75,96,113,128,170,199,264],"potential":[30],"unforeseen":[32],"situations.":[33],"Therefore,":[34],"it":[35,191,209],"important":[37],"incorporate":[39],"concept":[41],"of":[42,99,109,124,131,166,202,206,215,241],"adaptive":[43,67],"autonomy":[44],"path":[46,83,141,169,182,258,300],"planning.":[47],"This":[48,251],"approach":[49,252],"allows":[50],"system":[52],"autonomously":[54],"select":[55],"best":[57],"strategy.":[59],"The":[60,82,194,238],"technique":[61,74],"utilizes":[62],"dynamic":[63],"programming":[64],"an":[66,157],"memory":[68,195,267,278],"size,":[69],"leveraging":[70],"cellular":[72],"decomposition":[73],"divide":[76],"map":[78],"into":[79,86],"convex":[80],"cells.":[81,216],"divided":[85],"three":[87],"segments:":[88],"first":[90],"segment":[91,105,120],"connects":[92,106,121],"starting":[94,101,126],"point":[95],"center":[98,108,123,130],"cell,":[102],"second":[104],"goal":[111,115,133,172],"cell":[112,127,137],"point,":[116],"and":[117,189,208,219,230,283],"third":[119],"cell.":[134,153],"Since":[135],"each":[136],"convex,":[139],"internal":[140],"planning":[142,155,259],"simply":[143],"requires":[144],"straight":[146],"line":[147],"between":[148,212],"two":[149],"points":[150],"within":[151],"Path":[154],"uses":[156],"improved":[158],"A\u2217":[159],"(I-A\u2217)":[160],"algorithm,":[161],"which":[162,247],"evaluates":[163],"feasibility":[165],"direct":[168,181],"from":[173,277],"current":[175],"position":[176],"execution.":[178],"When":[179],"discovered,":[184],"algorithm":[186,291],"promptly":[187],"returns":[188],"saves":[190],"in":[192,234,296],"memory.":[193],"size":[196],"proportional":[198],"square":[201],"total":[204],"number":[205],"cells,":[207],"stores":[210],"paths":[211,272],"centers":[214],"By":[217],"storing":[218],"reusing":[220],"previously":[221],"calculated":[222],"paths,":[223],"this":[224,290],"method":[225],"significantly":[226],"reduces":[227],"redundant":[228],"computation":[229],"supports":[231],"long-term":[232],"sustainability":[233],"robot":[236],"deployments.":[237],"final":[239],"process":[244],"involves":[245],"pruning,":[246],"eliminates":[248],"unnecessary":[249],"waypoints.":[250],"obviates":[253],"need":[255],"repetitive":[257],"across":[260],"different":[261],"thanks":[263],"its":[265],"compact":[266],"size.":[268],"As":[269],"result,":[271],"can":[273],"be":[274],"swiftly":[275],"retrieved":[276],"when":[279],"needed,":[280],"enabling":[281],"efficient":[282],"prompt":[284],"navigation.":[285],"Simulation":[286],"results":[287],"indicate":[288],"that":[289],"consistently":[292],"outperforms":[293],"other":[294],"finding":[297],"shortest":[299],"quickly.":[301]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-09T15:46:55.921056","created_date":"2025-08-19T00:00:00"}