{"id":"https://openalex.org/W4385607490","doi":"https://doi.org/10.3390/s23156952","title":"A Hierarchical Motion Planning Method for Mobile Manipulator","display_name":"A Hierarchical Motion Planning Method for Mobile Manipulator","publication_year":2023,"publication_date":"2023-08-04","ids":{"openalex":"https://openalex.org/W4385607490","doi":"https://doi.org/10.3390/s23156952","pmid":"https://pubmed.ncbi.nlm.nih.gov/37571736"},"language":"en","primary_location":{"id":"doi:10.3390/s23156952","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23156952","pdf_url":"https://www.mdpi.com/1424-8220/23/15/6952/pdf?version=1691160014","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/1424-8220/23/15/6952/pdf?version=1691160014","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101979345","display_name":"Hanlin Chen","orcid":"https://orcid.org/0000-0002-7868-6028"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hanlin Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043336501","display_name":"Xizhe Zang","orcid":"https://orcid.org/0000-0002-5124-3999"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizhe Zang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100685976","display_name":"Yubin Liu","orcid":"https://orcid.org/0000-0002-7908-853X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yubin Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065798768","display_name":"Xuehe Zhang","orcid":"https://orcid.org/0000-0001-8138-2802"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuehe Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0001-8138-2802","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100685976","https://openalex.org/A5101979345"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.228,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.81666819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"23","issue":"15","first_page":"6952","last_page":"6952"},"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":0.9936000108718872,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8544890880584717},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.8083404302597046},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6820892095565796},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5579325556755066},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5440213084220886},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5019779205322266},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49820590019226074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4158775508403778},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4137399196624756},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3937565088272095},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3838609755039215},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2553137540817261},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25332576036453247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24215945601463318},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09740394353866577}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8544890880584717},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.8083404302597046},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6820892095565796},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5579325556755066},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5440213084220886},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5019779205322266},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49820590019226074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4158775508403778},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4137399196624756},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3937565088272095},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3838609755039215},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2553137540817261},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25332576036453247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24215945601463318},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09740394353866577},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23156952","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23156952","pdf_url":"https://www.mdpi.com/1424-8220/23/15/6952/pdf?version=1691160014","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:37571736","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37571736","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:pubmedcentral.nih.gov:10422355","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10422355","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10422355/pdf/sensors-23-06952.pdf","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"},{"id":"pmh:oai:doaj.org/article:72eb3261983f47d990db14ed079cacb5","is_oa":true,"landing_page_url":"https://doaj.org/article/72eb3261983f47d990db14ed079cacb5","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 23, Iss 15, p 6952 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/15/6952/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23156952","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; Volume 23; Issue 15; Pages: 6952","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23156952","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23156952","pdf_url":"https://www.mdpi.com/1424-8220/23/15/6952/pdf?version=1691160014","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":0.7699999809265137}],"awards":[{"id":"https://openalex.org/G2306358905","display_name":null,"funder_award_id":"2022YFB4700802","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3128905664","display_name":null,"funder_award_id":"2022YFB4700802","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5370040448","display_name":null,"funder_award_id":"92048301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5649844715","display_name":null,"funder_award_id":"92048301","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385607490.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1978239298","https://openalex.org/W2019965290","https://openalex.org/W2046365304","https://openalex.org/W2070092132","https://openalex.org/W2076026049","https://openalex.org/W2097994374","https://openalex.org/W2101665880","https://openalex.org/W2109983327","https://openalex.org/W2128990851","https://openalex.org/W2130422193","https://openalex.org/W2141279501","https://openalex.org/W2141664020","https://openalex.org/W2161819990","https://openalex.org/W2183483976","https://openalex.org/W2246023205","https://openalex.org/W2547209601","https://openalex.org/W3042275200","https://openalex.org/W3092637481","https://openalex.org/W3102121895","https://openalex.org/W3167357599","https://openalex.org/W3187771686","https://openalex.org/W3198639011","https://openalex.org/W3199967553","https://openalex.org/W3217170181","https://openalex.org/W4288775196","https://openalex.org/W4304694733","https://openalex.org/W4313598678","https://openalex.org/W4313890235","https://openalex.org/W6639617081","https://openalex.org/W6674967423","https://openalex.org/W6677801406","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W4385607490"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3],"motion":[4,22,185],"planning":[5,11,46,56,186],"for":[6,12,47,57,74,143],"mobile":[7,15,49,60,76,85],"manipulators,":[8],"which":[9],"includes":[10],"both":[13,58],"the":[14,18,28,48,59,63,75,84,89,92,99,102,107,112,116,144,159,174,177],"base":[16,50,61,77,86],"and":[17,54,62,101,173,197],"manipulator.":[19,145],"A":[20,131],"hierarchical":[21],"planner":[23,41,69],"is":[24,120,129,135],"proposed":[25],"that":[26,153],"allows":[27],"manipulator":[29,64,93,100,118,127],"to":[30,137,204],"change":[31],"its":[32],"configuration":[33,94,119,128,142],"autonomously":[34],"in":[35,51,65,121,149,164],"real":[36],"time":[37,203],"as":[38],"needed.":[39],"The":[40,68,146],"has":[42],"two":[43,52],"levels:":[44],"global":[45,207],"dimensions":[53],"local":[55],"three":[66],"dimensions.":[67],"first":[70],"generates":[71],"a":[72,122,125,140,201,206],"path":[73,90],"using":[78,106],"an":[79],"optimized":[80],"A*":[81],"algorithm.":[82],"As":[83],"moves":[87],"along":[88],"with":[91,181,190],"unchanged,":[95],"potential":[96,123],"collisions":[97],"between":[98],"environment":[103,108],"are":[104],"checked":[105],"data":[109],"obtained":[110],"from":[111],"on-board":[113],"sensors.":[114],"If":[115],"current":[117],"collision,":[124],"new":[126],"searched.":[130],"sampling-based":[132,156,162],"heuristic":[133,155],"algorithm":[134,157],"used":[136],"effectively":[138],"find":[139],"collision-free":[141],"experimental":[147],"results":[148],"simulation":[150],"environments":[151],"proved":[152],"our":[154,184],"outperforms":[158],"conservative":[160],"random":[161],"method":[163,187],"terms":[165],"of":[166,170,176],"computation":[167],"time,":[168],"percentage":[169],"successful":[171],"attempts,":[172],"quality":[175],"generated":[178],"configuration.":[179],"Compared":[180],"traditional":[182],"methods,":[183],"could":[188],"deal":[189],"3D":[191],"obstacles,":[192],"avoid":[193],"large":[194],"memory":[195],"requirements,":[196],"does":[198],"not":[199],"require":[200],"long":[202],"generate":[205],"plan.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6}],"updated_date":"2026-06-18T10:00:31.954636","created_date":"2025-10-10T00:00:00"}
