{"id":"https://openalex.org/W4401510584","doi":"https://doi.org/10.3390/s24165166","title":"SPIN-Based Linear Temporal Logic Path Planning for Ground Vehicle Missions with Motion Constraints on Digital Elevation Models","display_name":"SPIN-Based Linear Temporal Logic Path Planning for Ground Vehicle Missions with Motion Constraints on Digital Elevation Models","publication_year":2024,"publication_date":"2024-08-10","ids":{"openalex":"https://openalex.org/W4401510584","doi":"https://doi.org/10.3390/s24165166","pmid":"https://pubmed.ncbi.nlm.nih.gov/39204861"},"language":"en","primary_location":{"id":"doi:10.3390/s24165166","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24165166","pdf_url":"https://www.mdpi.com/1424-8220/24/16/5166/pdf?version=1723278915","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/1424-8220/24/16/5166/pdf?version=1723278915","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054543006","display_name":"Manuel Toscano-Moreno","orcid":"https://orcid.org/0000-0003-2012-7853"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Manuel Toscano-Moreno","raw_affiliation_strings":["Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2012-7853","affiliations":[{"raw_affiliation_string":"Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035771066","display_name":"Anthony Mandow","orcid":"https://orcid.org/0000-0002-9994-6239"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Anthony Mandow","raw_affiliation_strings":["Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0002-9994-6239","affiliations":[{"raw_affiliation_string":"Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019960457","display_name":"Mar\u00eda Mart\u00ednez","orcid":"https://orcid.org/0000-0001-8249-9201"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mar\u00eda Alc\u00e1zar Mart\u00ednez","raw_affiliation_strings":["Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8249-9201","affiliations":[{"raw_affiliation_string":"Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052476498","display_name":"Alfonso Garc\u00eda-Cerezo","orcid":"https://orcid.org/0000-0003-3432-3230"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso Jos\u00e9 Garc\u00eda-Cerezo","raw_affiliation_strings":["Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3432-3230","affiliations":[{"raw_affiliation_string":"Institute for Mechatronics Engineering and Cyber-Physical Systems, Robotics and Mechatronics Group, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035771066","https://openalex.org/A5054543006"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.4332,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61304305,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"24","issue":"16","first_page":"5166","last_page":"5166"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.7110156416893005},{"id":"https://openalex.org/keywords/model-checking","display_name":"Model checking","score":0.6554962396621704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6365181803703308},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5800333619117737},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.547278106212616},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.48107075691223145},{"id":"https://openalex.org/keywords/digital-elevation-model","display_name":"Digital elevation model","score":0.43129411339759827},{"id":"https://openalex.org/keywords/computation-tree-logic","display_name":"Computation tree logic","score":0.41688311100006104},{"id":"https://openalex.org/keywords/promela","display_name":"Promela","score":0.4149303436279297},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4113759696483612},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3859655261039734},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2928045988082886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17163124680519104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17015108466148376}],"concepts":[{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.7110156416893005},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.6554962396621704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6365181803703308},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5800333619117737},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.547278106212616},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.48107075691223145},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.43129411339759827},{"id":"https://openalex.org/C198008173","wikidata":"https://www.wikidata.org/wiki/Q1040040","display_name":"Computation tree logic","level":3,"score":0.41688311100006104},{"id":"https://openalex.org/C2776329536","wikidata":"https://www.wikidata.org/wiki/Q948666","display_name":"Promela","level":3,"score":0.4149303436279297},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4113759696483612},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3859655261039734},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2928045988082886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17163124680519104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17015108466148376},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s24165166","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24165166","pdf_url":"https://www.mdpi.com/1424-8220/24/16/5166/pdf?version=1723278915","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:39204861","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39204861","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:11359123","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11359123","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11359123/pdf/sensors-24-05166.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:4c50f2d196764332a2c98ffa9ee33aba","is_oa":true,"landing_page_url":"https://doaj.org/article/4c50f2d196764332a2c98ffa9ee33aba","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 24, Iss 16, p 5166 (2024)","raw_type":"article"},{"id":"pmh:oai:riuma.uma.es:10630/37354","is_oa":false,"landing_page_url":"https://doi.org/10.3390/S24165166.","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"VoR"}],"best_oa_location":{"id":"doi:10.3390/s24165166","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24165166","pdf_url":"https://www.mdpi.com/1424-8220/24/16/5166/pdf?version=1723278915","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G369191958","display_name":null,"funder_award_id":"PID2021-122944OB-I00","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G5395196854","display_name":null,"funder_award_id":"BES-2016-077022","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320311265","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401510584.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W953442141","https://openalex.org/W1965024948","https://openalex.org/W2150335178","https://openalex.org/W2151958719","https://openalex.org/W2164451522","https://openalex.org/W2528726414","https://openalex.org/W2594675090","https://openalex.org/W2811472820","https://openalex.org/W2937861953","https://openalex.org/W2963596362","https://openalex.org/W2963697709","https://openalex.org/W2973204678","https://openalex.org/W2998106212","https://openalex.org/W3037021533","https://openalex.org/W3090708069","https://openalex.org/W3097945779","https://openalex.org/W3119321206","https://openalex.org/W3162866072","https://openalex.org/W3217170181","https://openalex.org/W4284679184","https://openalex.org/W4320059792","https://openalex.org/W4320928948","https://openalex.org/W4382568173","https://openalex.org/W4385756627","https://openalex.org/W4396761811","https://openalex.org/W4399617841","https://openalex.org/W6625078771","https://openalex.org/W6795252328"],"related_works":["https://openalex.org/W1551070491","https://openalex.org/W1532447905","https://openalex.org/W858755136","https://openalex.org/W1981889059","https://openalex.org/W1967076997","https://openalex.org/W2159970028","https://openalex.org/W2350953867","https://openalex.org/W2995068468","https://openalex.org/W1592102986","https://openalex.org/W2369906140"],"abstract_inverted_index":{"Linear":[0],"temporal":[1],"logic":[2],"(LTL)":[3],"formalism":[4],"can":[5,76],"ensure":[6],"the":[7,42,54,119,131,181,184],"correctness":[8],"of":[9,97,183],"mobile":[10],"robot":[11],"planning":[12,23,142],"through":[13],"concise,":[14],"readable,":[15],"and":[16,33,68,81,177],"verifiable":[17],"mission":[18,66,132,188],"specifications.":[19],"For":[20],"uneven":[21],"terrain,":[22],"must":[24],"consider":[25],"motion":[26,69,102],"constraints":[27,70,106],"related":[28],"to":[29,52,78,107,159,200],"asymmetric":[30],"slope":[31],"traversability":[32],"maneuverability.":[34],"However,":[35],"even":[36,210],"though":[37],"model":[38,92,112,115],"checker":[39],"tools":[40],"like":[41],"open-source":[43],"Simple":[44],"Promela":[45],"Interpreter":[46],"(SPIN)":[47],"include":[48],"search":[49,214],"optimization":[50,215],"techniques":[51,216],"address":[53],"state":[55],"explosion":[56],"problem,":[57],"defining":[58],"a":[59,90,95,137,145,161,166,193,201,206],"global":[60,207],"LTL":[61,111,120,127,153,208],"property":[62,128],"that":[63,93,204],"encompasses":[64],"both":[65,218],"specifications":[67,189],"on":[71,175,190,217],"digital":[72],"elevation":[73],"models":[74,80],"(DEMs)":[75],"lead":[77],"complex":[79,187],"high":[82],"computation":[83,197],"times.":[84],"In":[85],"this":[86],"article,":[87],"we":[88,135],"propose":[89],"system":[91],"incorporates":[94],"set":[96],"uncrewed":[98],"ground":[99],"vehicle":[100],"(UGV)":[101],"constraints,":[103],"allowing":[104],"these":[105],"be":[108],"omitted":[109],"from":[110],"checking.":[113],"This":[114],"is":[116],"used":[117],"in":[118,196],"synthesizer":[121],"for":[122,140,155,186],"path":[123,141,219],"planning,":[124],"where":[125],"an":[126],"describes":[129],"only":[130],"specification.":[133],"Furthermore,":[134],"present":[136],"specific":[138],"parameterization":[139],"synthesis":[143],"using":[144],"SPIN.":[146],"We":[147],"also":[148],"offer":[149],"two":[150],"SPIN-efficient":[151],"general":[152],"formulas":[154],"representative":[156],"UGV":[157],"missions":[158],"reach":[160],"DEM":[162],"partition":[163],"set,":[164],"with":[165],"specified":[167],"or":[168],"unspecified":[169],"order,":[170],"respectively.":[171],"Validation":[172],"experiments":[173],"performed":[174],"synthetic":[176],"real-world":[178],"DEMs":[179],"demonstrate":[180],"feasibility":[182],"framework":[185],"DEMs,":[191],"achieving":[192],"significant":[194],"reduction":[195],"cost":[198],"compared":[199],"baseline":[202],"approach":[203],"includes":[205],"property,":[209],"when":[211],"applying":[212],"appropriate":[213],"planners.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}
