{"id":"https://openalex.org/W2994196047","doi":"https://doi.org/10.3390/s19245338","title":"Beam Search Algorithm for Ship Anti-Collision Trajectory Planning","display_name":"Beam Search Algorithm for Ship Anti-Collision Trajectory Planning","publication_year":2019,"publication_date":"2019-12-04","ids":{"openalex":"https://openalex.org/W2994196047","doi":"https://doi.org/10.3390/s19245338","mag":"2994196047","pmid":"https://pubmed.ncbi.nlm.nih.gov/31817086"},"language":"en","primary_location":{"id":"doi:10.3390/s19245338","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245338","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5338/pdf?version=1575456971","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/24/5338/pdf?version=1575456971","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056244149","display_name":"Joanna Karbowska-Chili\u0144ska","orcid":"https://orcid.org/0000-0001-5241-7930"},"institutions":[{"id":"https://openalex.org/I1323121030","display_name":"Bialystok University of Technology","ror":"https://ror.org/02bzfsy61","country_code":"PL","type":"education","lineage":["https://openalex.org/I1323121030"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Joanna Karbowska-Chilinska","raw_affiliation_strings":["Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland"],"raw_orcid":"https://orcid.org/0000-0001-5241-7930","affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland","institution_ids":["https://openalex.org/I1323121030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045376424","display_name":"Jolanta Koszelew","orcid":"https://orcid.org/0000-0003-1315-8926"},"institutions":[{"id":"https://openalex.org/I1323121030","display_name":"Bialystok University of Technology","ror":"https://ror.org/02bzfsy61","country_code":"PL","type":"education","lineage":["https://openalex.org/I1323121030"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Jolanta Koszelew","raw_affiliation_strings":["Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland","institution_ids":["https://openalex.org/I1323121030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012639529","display_name":"K Ostrowski","orcid":"https://orcid.org/0000-0002-7120-396X"},"institutions":[{"id":"https://openalex.org/I1323121030","display_name":"Bialystok University of Technology","ror":"https://ror.org/02bzfsy61","country_code":"PL","type":"education","lineage":["https://openalex.org/I1323121030"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Ostrowski","raw_affiliation_strings":["Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland","institution_ids":["https://openalex.org/I1323121030"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065145213","display_name":"Piotr Kuczy\u0144ski","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Piotr Kuczynski","raw_affiliation_strings":["Unity Developer, The Dust; 50-043 Wroc\u0142aw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Unity Developer, The Dust; 50-043 Wroc\u0142aw, Poland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082773462","display_name":"Eric Kulbiej","orcid":null},"institutions":[{"id":"https://openalex.org/I104588304","display_name":"University of Szczecin","ror":"https://ror.org/05vmz5070","country_code":"PL","type":"education","lineage":["https://openalex.org/I104588304"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Eric Kulbiej","raw_affiliation_strings":["R&D Department, Sup4Nav sp. z o.o.; 71-602 Szczecin, Poland","71-602 Szczecin, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"R&D Department, Sup4Nav sp. z o.o.; 71-602 Szczecin, Poland","institution_ids":[]},{"raw_affiliation_string":"71-602 Szczecin, Poland","institution_ids":["https://openalex.org/I104588304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012246582","display_name":"Piotr Wo\u0142ejsza","orcid":"https://orcid.org/0000-0003-4284-5223"},"institutions":[{"id":"https://openalex.org/I199688382","display_name":"Maritime University of Szczecin","ror":"https://ror.org/02sj9tq04","country_code":"PL","type":"education","lineage":["https://openalex.org/I199688382"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Piotr Wolejsza","raw_affiliation_strings":["Faculty of Computer Science and Telecommunication, Maritime University of Szczecin, 70-500 Szczecin, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Telecommunication, Maritime University of Szczecin, 70-500 Szczecin, Poland","institution_ids":["https://openalex.org/I199688382"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5012246582"],"corresponding_institution_ids":["https://openalex.org/I199688382"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.6385,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89159515,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"19","issue":"24","first_page":"5338","last_page":"5338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12985","display_name":"Maritime Security and History","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.9614999890327454,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/trajectory","display_name":"Trajectory","score":0.7233854532241821},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6395217180252075},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5659023523330688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4977986812591553},{"id":"https://openalex.org/keywords/beam","display_name":"Beam (structure)","score":0.4179582893848419},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3870125114917755},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3836372494697571},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38247883319854736},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18003103137016296},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12698835134506226},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1071557104587555}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7233854532241821},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6395217180252075},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5659023523330688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4977986812591553},{"id":"https://openalex.org/C168834538","wikidata":"https://www.wikidata.org/wiki/Q3705329","display_name":"Beam (structure)","level":2,"score":0.4179582893848419},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3870125114917755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3836372494697571},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38247883319854736},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18003103137016296},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12698835134506226},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1071557104587555},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s19245338","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245338","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5338/pdf?version=1575456971","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31817086","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31817086","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:mdpi.com:/1424-8220/19/24/5338/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19245338","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6960978","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6960978","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19245338","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245338","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5338/pdf?version=1575456971","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4083759870","display_name":null,"funder_award_id":"WZ/WI/1/19 and 1/S/ITM/16","funder_id":"https://openalex.org/F4320322733","funder_display_name":"Ministerstwo Edukacji i Nauki"}],"funders":[{"id":"https://openalex.org/F4320322733","display_name":"Ministerstwo Edukacji i Nauki","ror":"https://ror.org/05dwvd537"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2994196047.pdf","grobid_xml":"https://content.openalex.org/works/W2994196047.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W164394482","https://openalex.org/W1964916817","https://openalex.org/W1965370755","https://openalex.org/W1974504592","https://openalex.org/W2015299746","https://openalex.org/W2103030400","https://openalex.org/W2108534818","https://openalex.org/W2294935168","https://openalex.org/W2335760577","https://openalex.org/W2409160933","https://openalex.org/W2547705816","https://openalex.org/W2552328380","https://openalex.org/W2556122738","https://openalex.org/W2607603036","https://openalex.org/W2608355815","https://openalex.org/W2611247722","https://openalex.org/W2634113257","https://openalex.org/W2737717954","https://openalex.org/W2759597936","https://openalex.org/W2799681884","https://openalex.org/W2802283041","https://openalex.org/W2891719966","https://openalex.org/W2891923048","https://openalex.org/W2901325952","https://openalex.org/W2937250714","https://openalex.org/W2941436824","https://openalex.org/W2946818102","https://openalex.org/W2948098823","https://openalex.org/W2954211265","https://openalex.org/W2978050768","https://openalex.org/W2982732453","https://openalex.org/W3000789437","https://openalex.org/W3158406183","https://openalex.org/W6641547354","https://openalex.org/W6794515821"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"The":[0,37,50,76,121],"biggest":[1],"challenges":[2],"in":[3,40,69,126,134,153],"the":[4,17,28,46,62,67,90,97,103,112,127,140,156],"maritime":[5],"environment":[6,138],"are":[7],"accidents":[8],"and":[9,23,65,73,117,132],"excessive":[10],"fuel":[11,26],"consumption.":[12],"In":[13],"order":[14],"to":[15,24,155],"improve":[16],"safety":[18],"of":[19,30,71,78,80,93,96,111],"navigation":[20,137],"at":[21],"sea":[22],"reduce":[25],"consumption,":[27],"strategy":[29,38],"anti-collision,":[31],"shortest":[32],"trajectory":[33],"planning":[34],"is":[35,43,87,100,115],"proposed.":[36],"described":[39],"this":[41],"paper":[42],"based":[44],"on":[45,139],"beam":[47,51],"search":[48,52],"method.":[49],"algorithm":[53,122],"(BSA)":[54],"takes":[55],"into":[56],"account":[57],"many":[58],"safe":[59],"trajectories":[60,149],"for":[61],"present":[63,81,98,113],"ship":[64,82,99,114],"chooses":[66],"best":[68],"terms":[70],"length":[72],"other":[74],"criteria.":[75],"risk":[77],"collision":[79],"with":[83],"any":[84],"target":[85,104],"ships":[86],"detected":[88],"when":[89],"closest":[91],"point":[92],"approach":[94],"(CPA)":[95],"violated":[101],"by":[102],"ship's":[105],"planned":[106],"trajectory.":[107],"Only":[108],"course":[109],"alteration":[110],"applied,":[116],"not":[118],"speed":[119],"alteration.":[120],"has":[123],"been":[124],"implemented":[125],"decision":[128],"support":[129],"system":[130],"NAVDEC":[131],"tested":[133],"a":[135,143],"real":[136],"m/f":[141],"Wolin,":[142],"Polish":[144],"ferry.":[145],"Almost":[146],"all":[147],"BSA":[148],"calculated":[150],"were":[151],"shorter":[152],"comparison":[154],"standard":[157],"NAVDEC-calculated":[158],"algorithm.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}