{"id":"https://openalex.org/W7139121249","doi":"https://doi.org/10.3390/robotics15030062","title":"Energy-Efficient Path Planning for AMR Using Modified A* Algorithm with Machine Learning Integration","display_name":"Energy-Efficient Path Planning for AMR Using Modified A* Algorithm with Machine Learning Integration","publication_year":2026,"publication_date":"2026-03-18","ids":{"openalex":"https://openalex.org/W7139121249","doi":"https://doi.org/10.3390/robotics15030062"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15030062","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030062","pdf_url":"https://www.mdpi.com/2218-6581/15/3/62/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/15/3/62/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130176035","display_name":"Mishell Cadena-Yanez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123419","display_name":"Asociaci\u00f3n de la Industria Navarra","ror":"https://ror.org/02zksq237","country_code":"ES","type":"other","lineage":["https://openalex.org/I4210123419"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Mishell Cadena-Yanez","raw_affiliation_strings":["Navarra Artificial Intelligence Research Center\u2014NAIR Center, C. del Sadar, s/n, 31006 Pamplona, Spain"],"raw_orcid":"https://orcid.org/0009-0008-3557-6831","affiliations":[{"raw_affiliation_string":"Navarra Artificial Intelligence Research Center\u2014NAIR Center, C. del Sadar, s/n, 31006 Pamplona, Spain","institution_ids":["https://openalex.org/I4210123419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115619596","display_name":"Danel Rico-Melgosa","orcid":null},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]},{"id":"https://openalex.org/I4210144135","display_name":"Centro de Tecnolog\u00edas Aeronauticas (Spain)","ror":"https://ror.org/057epqv46","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210144135"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Danel Rico-Melgosa","raw_affiliation_strings":["System Engineering and Automation Control Department, Faculty of Engineering of Vitoria-Gasteiz, University of the Basque Country (UPV/EHU), 01006 Vitoria-Gasteiz, Spain"],"raw_orcid":"https://orcid.org/0009-0002-7821-5661","affiliations":[{"raw_affiliation_string":"System Engineering and Automation Control Department, Faculty of Engineering of Vitoria-Gasteiz, University of the Basque Country (UPV/EHU), 01006 Vitoria-Gasteiz, Spain","institution_ids":["https://openalex.org/I4210144135","https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063298294","display_name":"Ekaitz Zulueta","orcid":"https://orcid.org/0000-0001-6062-9343"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]},{"id":"https://openalex.org/I4210144135","display_name":"Centro de Tecnolog\u00edas Aeronauticas (Spain)","ror":"https://ror.org/057epqv46","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210144135"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ekaitz Zulueta","raw_affiliation_strings":["System Engineering and Automation Control Department, Faculty of Engineering of Vitoria-Gasteiz, University of the Basque Country (UPV/EHU), 01006 Vitoria-Gasteiz, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Engineering and Automation Control Department, Faculty of Engineering of Vitoria-Gasteiz, University of the Basque Country (UPV/EHU), 01006 Vitoria-Gasteiz, Spain","institution_ids":["https://openalex.org/I4210144135","https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046403060","display_name":"Angela Bernardini","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123419","display_name":"Asociaci\u00f3n de la Industria Navarra","ror":"https://ror.org/02zksq237","country_code":"ES","type":"other","lineage":["https://openalex.org/I4210123419"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Angela Bernardini","raw_affiliation_strings":["Navarra Artificial Intelligence Research Center\u2014NAIR Center, C. del Sadar, s/n, 31006 Pamplona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navarra Artificial Intelligence Research Center\u2014NAIR Center, C. del Sadar, s/n, 31006 Pamplona, Spain","institution_ids":["https://openalex.org/I4210123419"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019553314","display_name":"Jorge Rodr\u00edguez-Guerra","orcid":"https://orcid.org/0000-0003-3418-5077"},"institutions":[{"id":"https://openalex.org/I4210112304","display_name":"Hospital General de Almansa","ror":"https://ror.org/01wc63152","country_code":"ES","type":"healthcare","lineage":["https://openalex.org/I4210112304","https://openalex.org/I4210141158"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Rodriguez-Guerra","raw_affiliation_strings":["Research & Development Department, Aldakin, Nave 1G, 31800 Alsasua, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3418-5077","affiliations":[{"raw_affiliation_string":"Research & Development Department, Aldakin, Nave 1G, 31800 Alsasua, Spain","institution_ids":["https://openalex.org/I4210112304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5130176035"],"corresponding_institution_ids":["https://openalex.org/I4210123419"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.53595204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"3","first_page":"62","last_page":"62"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7989000082015991,"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":0.7989000082015991,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.024299999698996544,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.01720000058412552,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/motion-planning","display_name":"Motion planning","score":0.7445999979972839},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.7246000170707703},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5770999789237976},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.48669999837875366},{"id":"https://openalex.org/keywords/random-forest","display_name":"Random forest","score":0.46619999408721924},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.45089998841285706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4115999937057495},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4009999930858612}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7445999979972839},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.7246000170707703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5842000246047974},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5770999789237976},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5590999722480774},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C169258074","wikidata":"https://www.wikidata.org/wiki/Q245748","display_name":"Random forest","level":2,"score":0.46619999408721924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4636000096797943},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.45089998841285706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4115999937057495},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4009999930858612},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40049999952316284},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.39959999918937683},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.3930000066757202},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3926999866962433},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3822000026702881},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3546000123023987},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.33799999952316284},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30570000410079956},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29409998655319214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2937999963760376},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C13736549","wikidata":"https://www.wikidata.org/wiki/Q4489420","display_name":"Industrial engineering","level":1,"score":0.28279998898506165},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C40149104","wikidata":"https://www.wikidata.org/wiki/Q5620977","display_name":"Factory (object-oriented programming)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2689000070095062},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2687999904155731}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15030062","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030062","pdf_url":"https://www.mdpi.com/2218-6581/15/3/62/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8cc784ef184749e1b30274c30fbe2e5a","is_oa":true,"landing_page_url":"https://doaj.org/article/8cc784ef184749e1b30274c30fbe2e5a","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 3, p 62 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15030062","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030062","pdf_url":"https://www.mdpi.com/2218-6581/15/3/62/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9038665890693665,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7139121249.pdf","grobid_xml":"https://content.openalex.org/works/W7139121249.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1981167736","https://openalex.org/W2039167866","https://openalex.org/W2128990851","https://openalex.org/W2169528473","https://openalex.org/W2331283627","https://openalex.org/W2888729493","https://openalex.org/W2952367389","https://openalex.org/W3125055412","https://openalex.org/W3161816291","https://openalex.org/W4210769086","https://openalex.org/W4289521015","https://openalex.org/W4319934748","https://openalex.org/W4383368820","https://openalex.org/W4383891636","https://openalex.org/W4385655289","https://openalex.org/W4391889607","https://openalex.org/W4399429314","https://openalex.org/W4401946675","https://openalex.org/W4402860050","https://openalex.org/W4410280233","https://openalex.org/W4410303383","https://openalex.org/W4410440112","https://openalex.org/W4410966350","https://openalex.org/W4416850546","https://openalex.org/W4417455246"],"related_works":[],"abstract_inverted_index":{"Energy":[0],"consumption":[1,58,100,137],"optimisation":[2],"has":[3],"emerged":[4],"as":[5,25,61,114],"a":[6,68,127],"critical":[7],"need":[8],"in":[9],"Autonomous":[10],"Mobile":[11],"Robots":[12],"(AMRs).":[13],"Conventional":[14],"A*":[15,44],"implementations":[16],"typically":[17],"minimise":[18],"path":[19,123],"distance,":[20],"neglecting":[21],"energy-relevant":[22],"factors":[23],"such":[24],"directional":[26],"changes":[27],"and":[28,36,78,111,142],"trajectory":[29],"smoothness":[30],"that":[31,133],"significantly":[32],"impact":[33],"battery":[34,62],"life":[35],"operational":[37,144],"costs.":[38],"This":[39],"work":[40],"proposes":[41],"two":[42],"energy-aware":[43],"variants":[45],"trained":[46],"on":[47,126],"empirical":[48],"data":[49],"from":[50],"the":[51,75,82,115],"KUKA":[52],"KMP":[53],"1500":[54],"platform,":[55],"where":[56],"energy":[57,83,99,117,136],"is":[59],"measured":[60],"SoC":[63],"depletion:":[64],"A*-RF,":[65],"which":[66,80],"integrates":[67],"Random":[69],"Forest":[70],"(RF)":[71],"model":[72,84,97],"directly":[73],"into":[74],"cost":[76],"function,":[77],"A*-MOD,":[79],"approximates":[81],"through":[85],"RF":[86,96],"feature":[87],"importance":[88],"weights,":[89],"achieving":[90],"linear":[91],"computational":[92],"complexity":[93],"O(nf).":[94],"The":[95],"predicted":[98],"with":[101,149],"an":[102],"RMSE":[103],"below":[104],"1.5%":[105],"relative":[106],"error,":[107],"identifying":[108],"travel":[109],"distance":[110],"rotation":[112],"angle":[113],"dominant":[116],"factors.":[118],"Experimental":[119],"validation":[120],"across":[121,156],"42":[122],"planning":[124],"scenarios":[125],"real":[128],"industrial":[129],"factory":[130],"floor":[131],"demonstrates":[132],"A*-MOD":[134],"reduces":[135],"by":[138,146],"up":[139],"to":[140],"58.91%":[141],"improves":[143],"autonomy":[145],"2.21":[147],"times,":[148],"statistically":[150],"significant":[151],"improvements":[152],"(p":[153],"&lt;":[154],"0.01)":[155],"all":[157],"evaluated":[158],"metrics.":[159]},"counts_by_year":[],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2026-03-20T00:00:00"}
