{"id":"https://openalex.org/W7160915515","doi":"https://doi.org/10.48550/arxiv.2605.10086","title":"A cell-decomposition based path planner for 3D navigation in constrained workspaces","display_name":"A cell-decomposition based path planner for 3D navigation in constrained workspaces","publication_year":2026,"publication_date":"2026-05-11","ids":{"openalex":"https://openalex.org/W7160915515","doi":"https://doi.org/10.48550/arxiv.2605.10086"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.10086","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.10086","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135988686","display_name":"Jo\u00e3o P. L. Morais","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Morais, Jo\u00e3o P. L.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123440623","display_name":"Luciano C. A. Pimenta","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pimenta, Luciano C. A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135355612","display_name":"Marcelo A. Santos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Santos, Marcelo A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135365508","display_name":"Guilherme V. Raffo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Raffo, Guilherme V.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.767799973487854,"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":0.767799973487854,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.06040000170469284,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.03519999980926514,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.6622999906539917},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6367999911308289},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5038999915122986},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45419999957084656},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4235999882221222},{"id":"https://openalex.org/keywords/decomposition-method","display_name":"Decomposition method (queueing theory)","score":0.4226999878883362},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.3736000061035156},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.3513999879360199}],"concepts":[{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.6622999906539917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6401000022888184},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6367999911308289},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5687000155448914},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5038999915122986},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45419999957084656},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.428600013256073},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4235999882221222},{"id":"https://openalex.org/C2778258933","wikidata":"https://www.wikidata.org/wiki/Q16918986","display_name":"Decomposition method (queueing theory)","level":2,"score":0.4226999878883362},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3736000061035156},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.258899986743927},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C91370436","wikidata":"https://www.wikidata.org/wiki/Q5608616","display_name":"Grid method multiplication","level":3,"score":0.25519999861717224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2517000138759613},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.10086","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.10086","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10086","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8183912038803101}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,25],"paper":[1],"proposes":[2],"a":[3,28,83],"cell":[4,18,95],"decomposition":[5,26,96,109],"algorithm":[6,74],"for":[7,31,140],"binary":[8],"occupancy":[9],"grids":[10],"that":[11,35],"ensures":[12],"mutual":[13],"complete":[14],"visibility":[15],"from":[16],"each":[17,112],"to":[19,82,118,129],"at":[20],"least":[21],"one":[22],"adjacent":[23],"cell.":[24],"establishes":[27],"simplified":[29],"framework":[30],"verifying":[32],"path":[33,73],"feasibility":[34],"can":[36],"be":[37],"easily":[38],"embedded":[39],"in":[40,104],"optimization":[41,116],"problems.":[42,142],"To":[43],"illustrate":[44],"its":[45],"utility,":[46],"we":[47,64],"formulate":[48],"both":[49,115],"second-order":[50],"cone":[51],"programs":[52],"(SOCP)":[53],"and":[54,99],"their":[55],"mixed-integer":[56],"variant":[57],"(MISOCP)":[58],"within":[59],"the":[60,66,76,89,130],"proposed":[61,123],"framework.":[62],"Furthermore,":[63],"propose":[65],"KSP-SOCP":[67,124],"method,":[68],"which":[69],"combines":[70],"Yen's":[71],"k-shortest":[72],"with":[75],"SOCP,":[77],"achieving":[78],"improved":[79],"solutions":[80],"compared":[81],"standard":[84],"SOCP":[85],"approach":[86],"while":[87,132],"avoiding":[88],"computational":[90],"burden":[91],"of":[92],"MISOCP.":[93],"The":[94,108,122],"algorithm,":[97],"KSP-SOCP,":[98],"MISOCP":[100,131],"approaches":[101],"were":[102],"evaluated":[103],"9":[105],"city-like":[106],"workspaces.":[107],"efficiently":[110],"partitioned":[111],"map,":[113],"enabling":[114],"methods":[117],"compute":[119],"feasible":[120],"paths.":[121],"achieved":[125],"time":[126],"performance":[127],"comparable":[128],"requiring":[133],"less":[134],"memory,":[135],"making":[136],"it":[137],"highly":[138],"suitable":[139],"large-scale":[141]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-13T00:00:00"}