FreeD∗: a mechanism for finding a short and collision free path
Bibliographic record
Abstract
Path planning is extensively used in different fields not only in robotics but also in games, manufacturing, auto‐motive applications, and so on. Robot path planning is one of the major research issues in the area of autonomous mobile robot. The critical step in path planning problem is to find the shortest path from the start position to a defined goal position through a known, unknown, or partially known environment. Hazardous events that may devastate some parts of the intended area convert those areas to untraversable areas. These events introduce topological constraints for the robot motion because of information discrepancy about the environment before and after the damage. In this study, the authors propose a novel method, FreeD∗, to find the shortest path by exploiting the benefits of D∗, Dijkstra, and artificial potential field (APF) algorithms. The generated path using D∗ is optimised using Dijkstra by combining D∗ sub‐paths into a single diagonal path if there is no known obstacle between them. Then, APF is used in unknown obstacle avoidance. The simulation results using Webots simulator demonstrate the effectiveness of FreeD∗ in avoiding unknown obstacles with shortest path.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.003 | 0.003 |
| Research integrity | 0.002 | 0.001 |
| Insufficient payload (model declined to judge) | 0.007 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".