{"id":"https://openalex.org/W3009575668","doi":"https://doi.org/10.3390/s20051488","title":"A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study","display_name":"A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study","publication_year":2020,"publication_date":"2020-03-09","ids":{"openalex":"https://openalex.org/W3009575668","doi":"https://doi.org/10.3390/s20051488","mag":"3009575668","pmid":"https://pubmed.ncbi.nlm.nih.gov/32182737"},"language":"en","primary_location":{"id":"doi:10.3390/s20051488","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20051488","pdf_url":"https://www.mdpi.com/1424-8220/20/5/1488/pdf","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/1424-8220/20/5/1488/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027907162","display_name":"Federico Peralta","orcid":"https://orcid.org/0000-0001-8847-3555"},"institutions":[{"id":"https://openalex.org/I8379220","display_name":"Universidad Nacional de Asunci\u00f3n","ror":"https://ror.org/03f27y887","country_code":"PY","type":"education","lineage":["https://openalex.org/I8379220"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"Federico Peralta","raw_affiliation_strings":["Facultad de Ingenier\u00eda, Universidad Nacional de Asunci\u00f3n, 2160 San Lorenzo, Paraguay"],"raw_orcid":"https://orcid.org/0000-0001-8847-3555","affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda, Universidad Nacional de Asunci\u00f3n, 2160 San Lorenzo, Paraguay","institution_ids":["https://openalex.org/I8379220"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080671775","display_name":"Mario Arzamendia","orcid":"https://orcid.org/0000-0002-6486-8402"},"institutions":[{"id":"https://openalex.org/I8379220","display_name":"Universidad Nacional de Asunci\u00f3n","ror":"https://ror.org/03f27y887","country_code":"PY","type":"education","lineage":["https://openalex.org/I8379220"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"Mario Arzamendia","raw_affiliation_strings":["Facultad de Ingenier\u00eda, Universidad Nacional de Asunci\u00f3n, 2160 San Lorenzo, Paraguay"],"raw_orcid":"https://orcid.org/0000-0002-6486-8402","affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda, Universidad Nacional de Asunci\u00f3n, 2160 San Lorenzo, Paraguay","institution_ids":["https://openalex.org/I8379220"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066097644","display_name":"Derlis Gregor","orcid":"https://orcid.org/0000-0003-2606-5980"},"institutions":[{"id":"https://openalex.org/I8379220","display_name":"Universidad Nacional de Asunci\u00f3n","ror":"https://ror.org/03f27y887","country_code":"PY","type":"education","lineage":["https://openalex.org/I8379220"]}],"countries":["PY"],"is_corresponding":false,"raw_author_name":"Derlis Gregor","raw_affiliation_strings":["Facultad de Ingenier\u00eda, Universidad Nacional de Asunci\u00f3n, 2160 San Lorenzo, Paraguay"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda, Universidad Nacional de Asunci\u00f3n, 2160 San Lorenzo, Paraguay","institution_ids":["https://openalex.org/I8379220"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014119633","display_name":"Daniel Guti\u00e9rrez Reina","orcid":"https://orcid.org/0000-0002-2481-5058"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel G. Reina","raw_affiliation_strings":["Universidad de Sevilla, 41004 Sevilla, Espana"],"raw_orcid":"https://orcid.org/0000-0002-2481-5058","affiliations":[{"raw_affiliation_string":"Universidad de Sevilla, 41004 Sevilla, Espana","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003625612","display_name":"S. L. Toral","orcid":"https://orcid.org/0000-0003-2612-0388"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Sergio Toral","raw_affiliation_strings":["Universidad de Sevilla, 41004 Sevilla, Espana"],"raw_orcid":"https://orcid.org/0000-0003-2612-0388","affiliations":[{"raw_affiliation_string":"Universidad de Sevilla, 41004 Sevilla, Espana","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5003625612"],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.7271,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.9446588,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"20","issue":"5","first_page":"1488","last_page":"1488"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9955999851226807,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9437000155448914,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.691036581993103},{"id":"https://openalex.org/keywords/fast-marching-method","display_name":"Fast marching method","score":0.6433446407318115},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6262105703353882},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5130676031112671},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.466691792011261},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.42410823702812195},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41111135482788086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3715493977069855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29018527269363403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13750463724136353}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.691036581993103},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.6433446407318115},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6262105703353882},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5130676031112671},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.466691792011261},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42410823702812195},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41111135482788086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3715493977069855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29018527269363403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13750463724136353},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s20051488","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20051488","pdf_url":"https://www.mdpi.com/1424-8220/20/5/1488/pdf","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:32182737","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32182737","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:dnet:idus________::7b77de91d145960cde6face33233ad8a","is_oa":false,"landing_page_url":"https://idus.us.es/handle//11441/98342","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:6638d9e2328e4bb98d62d305d4680588","is_oa":true,"landing_page_url":"https://doaj.org/article/6638d9e2328e4bb98d62d305d4680588","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":"Sensors, Vol 20, Iss 5, p 1488 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/5/1488/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20051488","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:7085648","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7085648","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/s20051488","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20051488","pdf_url":"https://www.mdpi.com/1424-8220/20/5/1488/pdf","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G5907588653","display_name":null,"funder_award_id":"US-1257508","funder_id":"https://openalex.org/F4320326754","funder_display_name":"Junta de Andaluc\u00eda"},{"id":"https://openalex.org/G7147825673","display_name":null,"funder_award_id":"PY18-RE0009","funder_id":"https://openalex.org/F4320326754","funder_display_name":"Junta de Andaluc\u00eda"}],"funders":[{"id":"https://openalex.org/F4320326754","display_name":"Junta de Andaluc\u00eda","ror":"https://ror.org/01jem9c82"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3009575668.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W65484472","https://openalex.org/W1725252975","https://openalex.org/W1972591939","https://openalex.org/W1984505032","https://openalex.org/W1999244633","https://openalex.org/W2068684935","https://openalex.org/W2084163375","https://openalex.org/W2119034018","https://openalex.org/W2120179083","https://openalex.org/W2141664020","https://openalex.org/W2169528473","https://openalex.org/W2187354779","https://openalex.org/W2307769112","https://openalex.org/W2345644119","https://openalex.org/W2353775045","https://openalex.org/W2505781211","https://openalex.org/W2515498963","https://openalex.org/W2735654539","https://openalex.org/W2736892038","https://openalex.org/W2752574553","https://openalex.org/W2757258335","https://openalex.org/W2766900259","https://openalex.org/W2790472381","https://openalex.org/W2790928930","https://openalex.org/W2809128225","https://openalex.org/W2850432004","https://openalex.org/W2883674423","https://openalex.org/W2884119387","https://openalex.org/W2895647709","https://openalex.org/W2911301110","https://openalex.org/W2962899108","https://openalex.org/W2964138223","https://openalex.org/W2980995577","https://openalex.org/W3006252972","https://openalex.org/W6729319880"],"related_works":["https://openalex.org/W4206318724","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W4384009577","https://openalex.org/W2368795992","https://openalex.org/W1987886368"],"abstract_inverted_index":{"Local":[0],"path":[1,40,125],"planning":[2,41,126],"is":[3,170],"important":[4],"in":[5,112,130,155],"the":[6,35,54,67,70,90,103,135,166],"development":[7],"of":[8,34,37,69,89,139,157,172],"autonomous":[9],"vehicles":[10],"since":[11],"it":[12],"allows":[13],"a":[14,49,97,131],"vehicle":[15],"to":[16,20,62,117,151],"adapt":[17],"their":[18],"movements":[19],"dynamic":[21],"environments,":[22],"for":[23,43,76,123],"instance,":[24],"when":[25],"obstacles":[26],"are":[27],"detected.":[28],"This":[29],"work":[30,114],"presents":[31],"an":[32,44],"evaluation":[33,77,110],"performance":[36,154],"different":[38,71],"local":[39,124],"techniques":[42,75],"Autonomous":[45],"Surface":[46],"Vehicle,":[47],"using":[48,140],"custom-made":[50],"simulator":[51],"based":[52],"on":[53],"open-source":[55],"Robotarium":[56],"framework.":[57],"The":[58,73,109,128,143],"conducted":[59],"simulations":[60],"allow":[61],"verify,":[63],"compare":[64],"and":[65,87,120,137,146,162],"visualize":[66],"solutions":[68],"techniques.":[72,127],"selected":[74],"include":[78],"A*,":[79],"Potential":[80],"Fields":[81],"(PF),":[82],"Rapidly-Exploring":[83],"Random":[84],"Trees*":[85],"(RRT*)":[86],"variations":[88],"Fast":[91,104],"Marching":[92,105],"Method":[93],"(FMM),":[94],"along":[95],"with":[96],"proposed":[98,111,144,167],"new":[99],"method":[100,107],"called":[101],"Updating":[102],"Square":[106],"(uFMS).":[108],"this":[113],"includes":[115],"ways":[116],"summarize":[118],"time":[119],"safety":[121],"measures":[122],"results":[129],"Lake":[132],"environment":[133],"present":[134],"advantages":[136],"disadvantages":[138],"each":[141],"technique.":[142],"uFMS":[145,168],"A*":[147],"have":[148],"been":[149],"shown":[150],"achieve":[152],"interesting":[153],"terms":[156],"processing":[158],"time,":[159],"distance":[160],"travelled":[161],"security":[163],"levels.":[164],"Furthermore,":[165],"algorithm":[169],"capable":[171],"generating":[173],"smoother":[174],"routes.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
