{"id":"https://openalex.org/W4245995677","doi":"https://doi.org/10.1145/73833.73854","title":"Compliant motion in a simple polygon","display_name":"Compliant motion in a simple polygon","publication_year":1989,"publication_date":"1989-01-01","ids":{"openalex":"https://openalex.org/W4245995677","doi":"https://doi.org/10.1145/73833.73854"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1145/73833.73854","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/73833.73854","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/73833.73854","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041694148","display_name":"J. Friedman","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Friedman","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038416046","display_name":"John Hershberger","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Hershberger","raw_affiliation_strings":["DEC Systems Research Center"],"affiliations":[{"raw_affiliation_string":"DEC Systems Research Center","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074061303","display_name":"Jack Snoeyink","orcid":"https://orcid.org/0000-0002-3887-4008"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Snoeyink","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.396,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.715678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":80,"max":81},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9917,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9917,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9508,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.6800417},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49714282}],"concepts":[{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.6800417},{"id":"https://openalex.org/C197949415","wikidata":"https://www.wikidata.org/wiki/Q782746","display_name":"Simple polygon","level":3,"score":0.6738891},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.61754864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6068007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.601962},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.59176654},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.54480803},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5252468},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.51394767},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49714282},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49255237},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4687975},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4485369},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43691224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32476908},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27008054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26929933},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.26103133},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12430328},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.08970752},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1145/73833.73854","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/73833.73854","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1145/73833.73854","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/73833.73854","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":19,"referenced_works":["https://openalex.org/W1509580513","https://openalex.org/W1602392394","https://openalex.org/W1760889480","https://openalex.org/W1964869106","https://openalex.org/W1971842242","https://openalex.org/W2012242725","https://openalex.org/W2016986489","https://openalex.org/W2057776994","https://openalex.org/W2073058919","https://openalex.org/W2092243962","https://openalex.org/W2126876121","https://openalex.org/W2132026455","https://openalex.org/W2153759243","https://openalex.org/W2154394754","https://openalex.org/W2163178194","https://openalex.org/W2170220350","https://openalex.org/W4232932777","https://openalex.org/W4233007436","https://openalex.org/W4300035456"],"related_works":["https://openalex.org/W53644101","https://openalex.org/W4296464845","https://openalex.org/W2987051945","https://openalex.org/W2608536130","https://openalex.org/W2389833224","https://openalex.org/W2372903818","https://openalex.org/W2154329468","https://openalex.org/W2102467404","https://openalex.org/W1963624385","https://openalex.org/W1567510565"],"abstract_inverted_index":{"We":[0,23],"consider":[1],"motion":[2,7,29],"planning":[3,30],"under":[4],"the":[5,43,52,56,75,81,90,134,142],"compliant":[6,28],"model,":[8],"in":[9,54,70,79,92,124,144,151,156],"which":[10,55,80],"a":[11,17,32,36,46,64,86,93,101,109,145,166],"robot":[12,34,57,82],"directed":[13],"to":[14,89],"walk":[15],"into":[16],"wall":[18],"may":[19,177],"slide":[20],"along":[21],"it.":[22],"examine":[24],"several":[25],"variants":[26],"of":[27,77,103,136,173,179],"for":[31,114,169],"point":[33,88],"inside":[35],"simple":[37,174],"polygon":[38],"with":[39,59],"n":[40],"sides,":[41],"where":[42],"goal":[44,91,143],"is":[45],"fixed":[47],"vertex":[48],"or":[49],"edge.":[50],"For":[51],"case":[53],"moves":[58],"perfect":[60],"control,":[61],"we":[62,106,117,130],"build":[63],"data":[65,112],"structure":[66,97,113],"that":[67,139,176],"lets":[68,98],"us":[69,99],"\u039f(log":[71],"n)":[72,159],"time":[73,160],"determine":[74],"range":[76],"directions":[78],"can":[83,107,118,131,140],"move":[84],"from":[85],"query":[87,111],"single":[94,146],"step.":[95],"This":[96],"solve":[100,119],"variety":[102],"other":[104],"problems:":[105],"find":[108],"similar":[110],"multi-step":[115],"paths;":[116],"single-step":[120],"problems":[121],"allowing":[122,149],"uncertainty":[123,150],"control":[125],"and":[126,129,161],"position":[127],"sensing;":[128],"explicitly":[132],"compute":[133],"set":[135],"all":[137],"points":[138],"reach":[141],"step,":[147],"even":[148],"control.":[152],"Our":[153],"algorithms":[154],"run":[155],"\u039f(n":[157],"log":[158],"linear":[162],"space;":[163],"they":[164],"use":[165],"novel":[167],"method":[168],"maintaining":[170],"convex":[171],"hulls":[172],"paths":[175],"be":[178],"independent":[180],"interest.":[181]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4245995677","counts_by_year":[],"updated_date":"2024-12-13T02:58:39.681848","created_date":"2022-05-12"}