Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random tree Article Swipe
Yuxi Sun
,
Chengrui Zhang
,
Chang Liu
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1177/17298814211016609
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1177/17298814211016609
Generating a collision-free and dynamically feasible trajectory with a better clearance in a cluttered environment is still a challenge. We propose two dynamically feasible B-spline based rapidly exploring random tree (RRT) approaches, which are named DB-RRT and FMDB-RRT, to achieve path planning and trajectory planning simultaneously for omnidirectional mobile robots. DB-RRT combines the convex hull property of the B-spline and RRT’s rapid expansion capability to generate a safe and dynamically feasible trajectory. Firstly, we analyze the tree’s sustainable growth ability and put forward the dynamically feasible region. A geometric method is proposed to judge whether finding a dynamically feasible trajectory quickly. Secondly, we design two steer functions to guide the tree’s growth, improve efficiency, and decrease the number of iterations. To further increase the clearance and reduce the randomness of the trajectory, we propose FMDB-RRT, which uses the path of fast marching to guide the rapid growth of DB-RRT. Then, assuming that the number of sampled points is sufficient to represent the dynamically feasible region, the DB-RRT is proved to be probabilistically complete. Finally, by conducting experimental comparisons with other algorithms in different environments and deploying the proposed algorithm to an omnidirectional mobile robot, the effectiveness and good performance of the algorithm have been verified.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1177/17298814211016609
- https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609
- OA Status
- gold
- Cited By
- 17
- References
- 35
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3176821999
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3176821999Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1177/17298814211016609Digital Object Identifier
- Title
-
Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random treeWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-05-01Full publication date if available
- Authors
-
Yuxi Sun, Chengrui Zhang, Chang LiuList of authors in order
- Landing page
-
https://doi.org/10.1177/17298814211016609Publisher landing page
- PDF URL
-
https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609Direct OA link when available
- Concepts
-
Random tree, Computer science, Trajectory, Motion planning, Randomness, Mobile robot, Robot, Mathematical optimization, Path (computing), Convex hull, Tree (set theory), Algorithm, Regular polygon, Artificial intelligence, Mathematics, Computer network, Astronomy, Geometry, Physics, Mathematical analysis, StatisticsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
17Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 2, 2024: 5, 2023: 5, 2022: 3, 2021: 2Per-year citation counts (last 5 years)
- References (count)
-
35Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W3176821999 |
|---|---|
| doi | https://doi.org/10.1177/17298814211016609 |
| ids.doi | https://doi.org/10.1177/17298814211016609 |
| ids.mag | 3176821999 |
| ids.openalex | https://openalex.org/W3176821999 |
| fwci | 1.53329218 |
| type | article |
| title | Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random tree |
| biblio.issue | 3 |
| biblio.volume | 18 |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T10586 |
| topics[0].field.id | https://openalex.org/fields/17 |
| topics[0].field.display_name | Computer Science |
| topics[0].score | 0.9998999834060669 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/1707 |
| topics[0].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[0].display_name | Robotic Path Planning Algorithms |
| topics[1].id | https://openalex.org/T11615 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.9909999966621399 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2207 |
| topics[1].subfield.display_name | Control and Systems Engineering |
| topics[1].display_name | Control and Dynamics of Mobile Robots |
| topics[2].id | https://openalex.org/T11099 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9413999915122986 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2203 |
| topics[2].subfield.display_name | Automotive Engineering |
| topics[2].display_name | Autonomous Vehicle Technology and Safety |
| is_xpac | False |
| apc_list.value | 1500 |
| apc_list.currency | USD |
| apc_list.value_usd | 1500 |
| apc_paid.value | 1500 |
| apc_paid.currency | USD |
| apc_paid.value_usd | 1500 |
| concepts[0].id | https://openalex.org/C2776839635 |
| concepts[0].level | 4 |
| concepts[0].score | 0.7440690994262695 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q14942679 |
| concepts[0].display_name | Random tree |
| concepts[1].id | https://openalex.org/C41008148 |
| concepts[1].level | 0 |
| concepts[1].score | 0.7182897925376892 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[1].display_name | Computer science |
| concepts[2].id | https://openalex.org/C13662910 |
| concepts[2].level | 2 |
| concepts[2].score | 0.6144039630889893 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q193139 |
| concepts[2].display_name | Trajectory |
| concepts[3].id | https://openalex.org/C81074085 |
| concepts[3].level | 3 |
| concepts[3].score | 0.5242505073547363 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q366872 |
| concepts[3].display_name | Motion planning |
| concepts[4].id | https://openalex.org/C125112378 |
| concepts[4].level | 2 |
| concepts[4].score | 0.5127750039100647 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q176640 |
| concepts[4].display_name | Randomness |
| concepts[5].id | https://openalex.org/C19966478 |
| concepts[5].level | 3 |
| concepts[5].score | 0.5070099830627441 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q4810574 |
| concepts[5].display_name | Mobile robot |
| concepts[6].id | https://openalex.org/C90509273 |
| concepts[6].level | 2 |
| concepts[6].score | 0.5034405589103699 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[6].display_name | Robot |
| concepts[7].id | https://openalex.org/C126255220 |
| concepts[7].level | 1 |
| concepts[7].score | 0.48716041445732117 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q141495 |
| concepts[7].display_name | Mathematical optimization |
| concepts[8].id | https://openalex.org/C2777735758 |
| concepts[8].level | 2 |
| concepts[8].score | 0.4514268934726715 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q817765 |
| concepts[8].display_name | Path (computing) |
| concepts[9].id | https://openalex.org/C206194317 |
| concepts[9].level | 3 |
| concepts[9].score | 0.4230273365974426 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q1138624 |
| concepts[9].display_name | Convex hull |
| concepts[10].id | https://openalex.org/C113174947 |
| concepts[10].level | 2 |
| concepts[10].score | 0.4135254919528961 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q2859736 |
| concepts[10].display_name | Tree (set theory) |
| concepts[11].id | https://openalex.org/C11413529 |
| concepts[11].level | 1 |
| concepts[11].score | 0.36911076307296753 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q8366 |
| concepts[11].display_name | Algorithm |
| concepts[12].id | https://openalex.org/C112680207 |
| concepts[12].level | 2 |
| concepts[12].score | 0.23008331656455994 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q714886 |
| concepts[12].display_name | Regular polygon |
| concepts[13].id | https://openalex.org/C154945302 |
| concepts[13].level | 1 |
| concepts[13].score | 0.21971657872200012 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[13].display_name | Artificial intelligence |
| concepts[14].id | https://openalex.org/C33923547 |
| concepts[14].level | 0 |
| concepts[14].score | 0.2067784070968628 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q395 |
| concepts[14].display_name | Mathematics |
| concepts[15].id | https://openalex.org/C31258907 |
| concepts[15].level | 1 |
| concepts[15].score | 0.07136291265487671 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q1301371 |
| concepts[15].display_name | Computer network |
| concepts[16].id | https://openalex.org/C1276947 |
| concepts[16].level | 1 |
| concepts[16].score | 0.0 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q333 |
| concepts[16].display_name | Astronomy |
| concepts[17].id | https://openalex.org/C2524010 |
| concepts[17].level | 1 |
| concepts[17].score | 0.0 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q8087 |
| concepts[17].display_name | Geometry |
| concepts[18].id | https://openalex.org/C121332964 |
| concepts[18].level | 0 |
| concepts[18].score | 0.0 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q413 |
| concepts[18].display_name | Physics |
| concepts[19].id | https://openalex.org/C134306372 |
| concepts[19].level | 1 |
| concepts[19].score | 0.0 |
| concepts[19].wikidata | https://www.wikidata.org/wiki/Q7754 |
| concepts[19].display_name | Mathematical analysis |
| concepts[20].id | https://openalex.org/C105795698 |
| concepts[20].level | 1 |
| concepts[20].score | 0.0 |
| concepts[20].wikidata | https://www.wikidata.org/wiki/Q12483 |
| concepts[20].display_name | Statistics |
| keywords[0].id | https://openalex.org/keywords/random-tree |
| keywords[0].score | 0.7440690994262695 |
| keywords[0].display_name | Random tree |
| keywords[1].id | https://openalex.org/keywords/computer-science |
| keywords[1].score | 0.7182897925376892 |
| keywords[1].display_name | Computer science |
| keywords[2].id | https://openalex.org/keywords/trajectory |
| keywords[2].score | 0.6144039630889893 |
| keywords[2].display_name | Trajectory |
| keywords[3].id | https://openalex.org/keywords/motion-planning |
| keywords[3].score | 0.5242505073547363 |
| keywords[3].display_name | Motion planning |
| keywords[4].id | https://openalex.org/keywords/randomness |
| keywords[4].score | 0.5127750039100647 |
| keywords[4].display_name | Randomness |
| keywords[5].id | https://openalex.org/keywords/mobile-robot |
| keywords[5].score | 0.5070099830627441 |
| keywords[5].display_name | Mobile robot |
| keywords[6].id | https://openalex.org/keywords/robot |
| keywords[6].score | 0.5034405589103699 |
| keywords[6].display_name | Robot |
| keywords[7].id | https://openalex.org/keywords/mathematical-optimization |
| keywords[7].score | 0.48716041445732117 |
| keywords[7].display_name | Mathematical optimization |
| keywords[8].id | https://openalex.org/keywords/path |
| keywords[8].score | 0.4514268934726715 |
| keywords[8].display_name | Path (computing) |
| keywords[9].id | https://openalex.org/keywords/convex-hull |
| keywords[9].score | 0.4230273365974426 |
| keywords[9].display_name | Convex hull |
| keywords[10].id | https://openalex.org/keywords/tree |
| keywords[10].score | 0.4135254919528961 |
| keywords[10].display_name | Tree (set theory) |
| keywords[11].id | https://openalex.org/keywords/algorithm |
| keywords[11].score | 0.36911076307296753 |
| keywords[11].display_name | Algorithm |
| keywords[12].id | https://openalex.org/keywords/regular-polygon |
| keywords[12].score | 0.23008331656455994 |
| keywords[12].display_name | Regular polygon |
| keywords[13].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[13].score | 0.21971657872200012 |
| keywords[13].display_name | Artificial intelligence |
| keywords[14].id | https://openalex.org/keywords/mathematics |
| keywords[14].score | 0.2067784070968628 |
| keywords[14].display_name | Mathematics |
| keywords[15].id | https://openalex.org/keywords/computer-network |
| keywords[15].score | 0.07136291265487671 |
| keywords[15].display_name | Computer network |
| language | en |
| locations[0].id | doi:10.1177/17298814211016609 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S169266912 |
| locations[0].source.issn | 1729-8806, 1729-8814 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | 1729-8806 |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | True |
| locations[0].source.display_name | International Journal of Advanced Robotic Systems |
| locations[0].source.host_organization | https://openalex.org/P4310320017 |
| locations[0].source.host_organization_name | SAGE Publishing |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310320017 |
| locations[0].source.host_organization_lineage_names | SAGE Publishing |
| locations[0].license | cc-by |
| locations[0].pdf_url | https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609 |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | https://openalex.org/licenses/cc-by |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | International Journal of Advanced Robotic Systems |
| locations[0].landing_page_url | https://doi.org/10.1177/17298814211016609 |
| locations[1].id | pmh:oai:doaj.org/article:0a45ad1798c5434e8acfae1d76ebb72d |
| locations[1].is_oa | False |
| locations[1].source.id | https://openalex.org/S4306401280 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | False |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | DOAJ (DOAJ: Directory of Open Access Journals) |
| locations[1].source.host_organization | |
| locations[1].source.host_organization_name | |
| locations[1].license | |
| locations[1].pdf_url | |
| locations[1].version | submittedVersion |
| locations[1].raw_type | article |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | International Journal of Advanced Robotic Systems, Vol 18 (2021) |
| locations[1].landing_page_url | https://doaj.org/article/0a45ad1798c5434e8acfae1d76ebb72d |
| indexed_in | crossref, doaj |
| authorships[0].author.id | https://openalex.org/A5073850712 |
| authorships[0].author.orcid | |
| authorships[0].author.display_name | Yuxi Sun |
| authorships[0].countries | CN |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[0].affiliations[0].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[0].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[0].affiliations[1].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[0].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[0].affiliations[2].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[0].institutions[0].id | https://openalex.org/I154099455 |
| authorships[0].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[0].institutions[0].country_code | CN |
| authorships[0].institutions[0].display_name | Shandong University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Yuxi Sun |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[1].author.id | https://openalex.org/A5077452145 |
| authorships[1].author.orcid | https://orcid.org/0000-0003-1536-589X |
| authorships[1].author.display_name | Chengrui Zhang |
| authorships[1].countries | CN |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[1].affiliations[0].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[1].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[1].affiliations[1].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[1].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[1].affiliations[2].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[1].institutions[0].id | https://openalex.org/I154099455 |
| authorships[1].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[1].institutions[0].country_code | CN |
| authorships[1].institutions[0].display_name | Shandong University |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Chengrui Zhang |
| authorships[1].is_corresponding | True |
| authorships[1].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[2].author.id | https://openalex.org/A5115591728 |
| authorships[2].author.orcid | https://orcid.org/0000-0003-0650-1773 |
| authorships[2].author.display_name | Chang Liu |
| authorships[2].countries | CN |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[2].affiliations[0].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[2].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[2].affiliations[1].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[2].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[2].affiliations[2].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[2].institutions[0].id | https://openalex.org/I154099455 |
| authorships[2].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[2].institutions[0].country_code | CN |
| authorships[2].institutions[0].display_name | Shandong University |
| authorships[2].author_position | last |
| authorships[2].raw_author_name | Chang Liu |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609 |
| open_access.oa_status | gold |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random tree |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10586 |
| primary_topic.field.id | https://openalex.org/fields/17 |
| primary_topic.field.display_name | Computer Science |
| primary_topic.score | 0.9998999834060669 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/1707 |
| primary_topic.subfield.display_name | Computer Vision and Pattern Recognition |
| primary_topic.display_name | Robotic Path Planning Algorithms |
| related_works | https://openalex.org/W1991478428, https://openalex.org/W1904098742, https://openalex.org/W3158921809, https://openalex.org/W1980828932, https://openalex.org/W1987694097, https://openalex.org/W2161428574, https://openalex.org/W2618632915, https://openalex.org/W3158818664, https://openalex.org/W2077416514, https://openalex.org/W2797949337 |
| cited_by_count | 17 |
| counts_by_year[0].year | 2025 |
| counts_by_year[0].cited_by_count | 2 |
| counts_by_year[1].year | 2024 |
| counts_by_year[1].cited_by_count | 5 |
| counts_by_year[2].year | 2023 |
| counts_by_year[2].cited_by_count | 5 |
| counts_by_year[3].year | 2022 |
| counts_by_year[3].cited_by_count | 3 |
| counts_by_year[4].year | 2021 |
| counts_by_year[4].cited_by_count | 2 |
| locations_count | 2 |
| best_oa_location.id | doi:10.1177/17298814211016609 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S169266912 |
| best_oa_location.source.issn | 1729-8806, 1729-8814 |
| best_oa_location.source.type | journal |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | 1729-8806 |
| best_oa_location.source.is_core | True |
| best_oa_location.source.is_in_doaj | True |
| best_oa_location.source.display_name | International Journal of Advanced Robotic Systems |
| best_oa_location.source.host_organization | https://openalex.org/P4310320017 |
| best_oa_location.source.host_organization_name | SAGE Publishing |
| best_oa_location.source.host_organization_lineage | https://openalex.org/P4310320017 |
| best_oa_location.source.host_organization_lineage_names | SAGE Publishing |
| best_oa_location.license | cc-by |
| best_oa_location.pdf_url | https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609 |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | journal-article |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | International Journal of Advanced Robotic Systems |
| best_oa_location.landing_page_url | https://doi.org/10.1177/17298814211016609 |
| primary_location.id | doi:10.1177/17298814211016609 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S169266912 |
| primary_location.source.issn | 1729-8806, 1729-8814 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | 1729-8806 |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | True |
| primary_location.source.display_name | International Journal of Advanced Robotic Systems |
| primary_location.source.host_organization | https://openalex.org/P4310320017 |
| primary_location.source.host_organization_name | SAGE Publishing |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310320017 |
| primary_location.source.host_organization_lineage_names | SAGE Publishing |
| primary_location.license | cc-by |
| primary_location.pdf_url | https://journals.sagepub.com/doi/pdf/10.1177/17298814211016609 |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | https://openalex.org/licenses/cc-by |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | International Journal of Advanced Robotic Systems |
| primary_location.landing_page_url | https://doi.org/10.1177/17298814211016609 |
| publication_date | 2021-05-01 |
| publication_year | 2021 |
| referenced_works | https://openalex.org/W2300756811, https://openalex.org/W2343568200, https://openalex.org/W2169528473, https://openalex.org/W1969483458, https://openalex.org/W4231761304, https://openalex.org/W1996183429, https://openalex.org/W2549200707, https://openalex.org/W2141664020, https://openalex.org/W2128990851, https://openalex.org/W2069710460, https://openalex.org/W1971086298, https://openalex.org/W2142156433, https://openalex.org/W2211552581, https://openalex.org/W2914020290, https://openalex.org/W1578293866, https://openalex.org/W2618658041, https://openalex.org/W2757731190, https://openalex.org/W2058784782, https://openalex.org/W2273777546, https://openalex.org/W2556604186, https://openalex.org/W4399469378, https://openalex.org/W2118448675, https://openalex.org/W2181845023, https://openalex.org/W2962787639, https://openalex.org/W2995792011, https://openalex.org/W1973876344, https://openalex.org/W4376530426, https://openalex.org/W3148166280, https://openalex.org/W1484387568, https://openalex.org/W4366147518, https://openalex.org/W2604213426, https://openalex.org/W3106475722, https://openalex.org/W131069610, https://openalex.org/W4231605213, https://openalex.org/W1238092070 |
| referenced_works_count | 35 |
| abstract_inverted_index.A | 87 |
| abstract_inverted_index.a | 1, 8, 12, 17, 66, 96 |
| abstract_inverted_index.To | 120 |
| abstract_inverted_index.We | 19 |
| abstract_inverted_index.an | 190 |
| abstract_inverted_index.be | 170 |
| abstract_inverted_index.by | 174 |
| abstract_inverted_index.in | 11, 181 |
| abstract_inverted_index.is | 15, 90, 157, 167 |
| abstract_inverted_index.of | 56, 118, 129, 139, 147, 154, 199 |
| abstract_inverted_index.to | 38, 64, 92, 107, 142, 159, 169, 189 |
| abstract_inverted_index.we | 73, 102, 132 |
| abstract_inverted_index.and | 3, 36, 42, 59, 68, 80, 114, 125, 184, 196 |
| abstract_inverted_index.are | 33 |
| abstract_inverted_index.for | 46 |
| abstract_inverted_index.put | 81 |
| abstract_inverted_index.the | 52, 57, 75, 83, 109, 116, 123, 127, 130, 137, 144, 152, 161, 165, 186, 194, 200 |
| abstract_inverted_index.two | 21, 104 |
| abstract_inverted_index.been | 203 |
| abstract_inverted_index.fast | 140 |
| abstract_inverted_index.good | 197 |
| abstract_inverted_index.have | 202 |
| abstract_inverted_index.hull | 54 |
| abstract_inverted_index.path | 40, 138 |
| abstract_inverted_index.safe | 67 |
| abstract_inverted_index.that | 151 |
| abstract_inverted_index.tree | 29 |
| abstract_inverted_index.uses | 136 |
| abstract_inverted_index.with | 7, 178 |
| abstract_inverted_index.(RRT) | 30 |
| abstract_inverted_index.Then, | 149 |
| abstract_inverted_index.based | 25 |
| abstract_inverted_index.guide | 108, 143 |
| abstract_inverted_index.judge | 93 |
| abstract_inverted_index.named | 34 |
| abstract_inverted_index.other | 179 |
| abstract_inverted_index.rapid | 61, 145 |
| abstract_inverted_index.steer | 105 |
| abstract_inverted_index.still | 16 |
| abstract_inverted_index.which | 32, 135 |
| abstract_inverted_index.DB-RRT | 35, 50, 166 |
| abstract_inverted_index.better | 9 |
| abstract_inverted_index.convex | 53 |
| abstract_inverted_index.design | 103 |
| abstract_inverted_index.growth | 78, 146 |
| abstract_inverted_index.method | 89 |
| abstract_inverted_index.mobile | 48, 192 |
| abstract_inverted_index.number | 117, 153 |
| abstract_inverted_index.points | 156 |
| abstract_inverted_index.proved | 168 |
| abstract_inverted_index.random | 28 |
| abstract_inverted_index.reduce | 126 |
| abstract_inverted_index.robot, | 193 |
| abstract_inverted_index.DB-RRT. | 148 |
| abstract_inverted_index.RRT’s | 60 |
| abstract_inverted_index.ability | 79 |
| abstract_inverted_index.achieve | 39 |
| abstract_inverted_index.analyze | 74 |
| abstract_inverted_index.finding | 95 |
| abstract_inverted_index.forward | 82 |
| abstract_inverted_index.further | 121 |
| abstract_inverted_index.growth, | 111 |
| abstract_inverted_index.improve | 112 |
| abstract_inverted_index.propose | 20, 133 |
| abstract_inverted_index.rapidly | 26 |
| abstract_inverted_index.region, | 164 |
| abstract_inverted_index.region. | 86 |
| abstract_inverted_index.robots. | 49 |
| abstract_inverted_index.sampled | 155 |
| abstract_inverted_index.whether | 94 |
| abstract_inverted_index.B-spline | 24, 58 |
| abstract_inverted_index.Finally, | 173 |
| abstract_inverted_index.Firstly, | 72 |
| abstract_inverted_index.assuming | 150 |
| abstract_inverted_index.combines | 51 |
| abstract_inverted_index.decrease | 115 |
| abstract_inverted_index.feasible | 5, 23, 70, 85, 98, 163 |
| abstract_inverted_index.generate | 65 |
| abstract_inverted_index.increase | 122 |
| abstract_inverted_index.marching | 141 |
| abstract_inverted_index.planning | 41, 44 |
| abstract_inverted_index.property | 55 |
| abstract_inverted_index.proposed | 91, 187 |
| abstract_inverted_index.quickly. | 100 |
| abstract_inverted_index.tree’s | 76, 110 |
| abstract_inverted_index.FMDB-RRT, | 37, 134 |
| abstract_inverted_index.Secondly, | 101 |
| abstract_inverted_index.algorithm | 188, 201 |
| abstract_inverted_index.clearance | 10, 124 |
| abstract_inverted_index.cluttered | 13 |
| abstract_inverted_index.complete. | 172 |
| abstract_inverted_index.deploying | 185 |
| abstract_inverted_index.different | 182 |
| abstract_inverted_index.expansion | 62 |
| abstract_inverted_index.exploring | 27 |
| abstract_inverted_index.functions | 106 |
| abstract_inverted_index.geometric | 88 |
| abstract_inverted_index.represent | 160 |
| abstract_inverted_index.verified. | 204 |
| abstract_inverted_index.Generating | 0 |
| abstract_inverted_index.algorithms | 180 |
| abstract_inverted_index.capability | 63 |
| abstract_inverted_index.challenge. | 18 |
| abstract_inverted_index.conducting | 175 |
| abstract_inverted_index.randomness | 128 |
| abstract_inverted_index.sufficient | 158 |
| abstract_inverted_index.trajectory | 6, 43, 99 |
| abstract_inverted_index.approaches, | 31 |
| abstract_inverted_index.comparisons | 177 |
| abstract_inverted_index.dynamically | 4, 22, 69, 84, 97, 162 |
| abstract_inverted_index.efficiency, | 113 |
| abstract_inverted_index.environment | 14 |
| abstract_inverted_index.iterations. | 119 |
| abstract_inverted_index.performance | 198 |
| abstract_inverted_index.sustainable | 77 |
| abstract_inverted_index.trajectory, | 131 |
| abstract_inverted_index.trajectory. | 71 |
| abstract_inverted_index.environments | 183 |
| abstract_inverted_index.experimental | 176 |
| abstract_inverted_index.effectiveness | 195 |
| abstract_inverted_index.collision-free | 2 |
| abstract_inverted_index.simultaneously | 45 |
| abstract_inverted_index.omnidirectional | 47, 191 |
| abstract_inverted_index.probabilistically | 171 |
| cited_by_percentile_year.max | 98 |
| cited_by_percentile_year.min | 93 |
| corresponding_author_ids | https://openalex.org/A5077452145 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| corresponding_institution_ids | https://openalex.org/I154099455 |
| citation_normalized_percentile.value | 0.84596345 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |