{"id":"https://openalex.org/W2594548486","doi":"https://doi.org/10.23919/acc.2017.7963402","title":"Clustering in discrete path planning for approximating minimum length paths","display_name":"Clustering in discrete path planning for approximating minimum length paths","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2594548486","doi":"https://doi.org/10.23919/acc.2017.7963402","mag":"2594548486"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963402","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1702.08410","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001134058","display_name":"Frank Imeson","orcid":"https://orcid.org/0000-0002-4399-2172"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"funder","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Frank Imeson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103134580","display_name":"Stephen L. Smith","orcid":"https://orcid.org/0000-0002-8636-407X"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"funder","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Stephen L. Smith","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.06,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":1,"citation_normalized_percentile":{"value":0.180979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":63,"max":71},"biblio":{"volume":"51","issue":null,"first_page":"2968","last_page":"2973"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9978,"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":0.9978,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.992,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12288","display_name":"Optimization and Search Problems","score":0.9805,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.7830402},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.65905917},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5451204},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.52791053},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.48747444},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47111893},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4602434},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.45730856},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45348355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4490819},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4436009},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.43845928},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33029544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32253766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21534723},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.18875223},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963402","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1702.08410","pdf_url":"https://arxiv.org/pdf/1702.08410","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1702.08410","pdf_url":"https://arxiv.org/pdf/1702.08410","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.59,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":26,"referenced_works":["https://openalex.org/W1484555300","https://openalex.org/W1501500081","https://openalex.org/W1517470327","https://openalex.org/W1546413495","https://openalex.org/W1808256548","https://openalex.org/W1995303737","https://openalex.org/W2041869086","https://openalex.org/W2057712948","https://openalex.org/W2070232376","https://openalex.org/W2075597182","https://openalex.org/W2092353499","https://openalex.org/W2117927826","https://openalex.org/W2131358719","https://openalex.org/W2131681506","https://openalex.org/W2135939055","https://openalex.org/W2141585940","https://openalex.org/W2143037347","https://openalex.org/W2154338060","https://openalex.org/W2161455936","https://openalex.org/W2163428398","https://openalex.org/W2319660501","https://openalex.org/W2506289191","https://openalex.org/W2594548486","https://openalex.org/W2913457232","https://openalex.org/W3099768174","https://openalex.org/W626292722"],"related_works":["https://openalex.org/W4297427155","https://openalex.org/W3216757130","https://openalex.org/W3154539612","https://openalex.org/W2380019117","https://openalex.org/W2369187583","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W1525389557"],"abstract_inverted_index":{"In":[0],"this":[1,79],"paper":[2],"we":[3,100],"consider":[4],"discrete":[5],"robot":[6],"path":[7],"planning":[8,21],"problems":[9],"on":[10,91],"metric":[11],"graphs.":[12],"We":[13,62,83],"propose":[14],"a":[15,33,36,64,76],"clustering":[16,89],"method,":[17],"\u0393-Clustering":[18],"for":[19,68,75,97],"the":[20,26,40,44,48,59,85,88],"graph":[22],"that":[23,74,96],"significantly":[24],"reduces":[25],"number":[27],"of":[28,39,87],"feasible":[29],"solutions,":[30],"yet":[31],"retains":[32],"solution":[34,113],"within":[35],"constant":[37,49],"factor":[38,50],"optimal.":[41],"By":[42],"increasing":[43],"input":[45],"parameter":[46],"\u0393,":[47,78],"can":[51],"be":[52],"decreased,":[53],"but":[54],"with":[55,107],"less":[56],"reduction":[57,111],"in":[58,104,112],"search":[60],"space.":[61],"provide":[63],"simple":[65],"polynomial-time":[66],"algorithm":[67],"finding":[69],"optimal":[70,80],"\u0393-Clusters,":[71],"and":[72],"show":[73],"given":[77],"is":[81],"unique.":[82],"demonstrate":[84],"effectiveness":[86],"method":[90],"traveling":[92],"salesman":[93],"instances,":[94],"showing":[95],"many":[98],"instances":[99],"obtain":[101],"significant":[102],"reductions":[103],"computation":[105],"time":[106],"little":[108],"to":[109],"no":[110],"quality.":[114]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2594548486","counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-04-20T02:41:18.217525","created_date":"2017-03-16"}