Voronoi Boundary Visibility for Efficient Path Planning

The subject of this paper is the computation of paths for mobile robots that navigate from a start position to a goal position in environments with static obstacles. Specifically, we focus on paths that are represented by straight lines. Such paths can for example directly be followed by omni-direct...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE access Jg. 8; S. 134764 - 134781
Hauptverfasser:	Al-Dahhan, Mohammed Rabeea Hashim, Schmidt, Klaus Werner
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Algorithms Barriers Business metrics Measurement Mobile robots Navigation obstacles Path planning Performance measurement Robots Safety Shape Straight lines Visibility Voronoi diagram Voronoi graphs Waypoints
ISSN:	2169-3536, 2169-3536
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Abstract	The subject of this paper is the computation of paths for mobile robots that navigate from a start position to a goal position in environments with static obstacles. Specifically, we focus on paths that are represented by straight lines. Such paths can for example directly be followed by omni-directional robots or can be used as an initial solution for path smoothing. In this context, the most common performance metrics are the path length, the obstacle clearance and the computation time. In this paper, we develop a new path planning algorithm that addresses all the stated performance metrics. Our method first determines all possible connections between the start position and goal position along the edges of the generalized Voronoi diagram (GVD) of a given obstacle map. The shortest connections are then refined using a balanced method for creating shortcuts along existing waypoints and introducing new waypoints in order to cut corners. As an important feature, our method reduces the number of required waypoints by iteratively adding new waypoints and then removing unnecessary waypoints along solution paths. Moreover, our method takes into account multiple start-goal connections, since the shortest start-goal connection along the edges of the GVD might not lead to the shortest solution path. A comprehensive computational evaluation for a large number of maps with different properties shows that the proposed method outperforms sampling-based algorithms such as Probabilistic Roadmaps (PRM) and exact methods such as Visibility Graphs (VG) by computing close-to-optimal solution paths with a specified minimum obstacle clearance in less time.
AbstractList	The subject of this paper is the computation of paths for mobile robots that navigate from a start position to a goal position in environments with static obstacles. Specifically, we focus on paths that are represented by straight lines. Such paths can for example directly be followed by omni-directional robots or can be used as an initial solution for path smoothing. In this context, the most common performance metrics are the path length, the obstacle clearance and the computation time. In this paper, we develop a new path planning algorithm that addresses all the stated performance metrics. Our method first determines all possible connections between the start position and goal position along the edges of the generalized Voronoi diagram (GVD) of a given obstacle map. The shortest connections are then refined using a balanced method for creating shortcuts along existing waypoints and introducing new waypoints in order to cut corners. As an important feature, our method reduces the number of required waypoints by iteratively adding new waypoints and then removing unnecessary waypoints along solution paths. Moreover, our method takes into account multiple start-goal connections, since the shortest start-goal connection along the edges of the GVD might not lead to the shortest solution path. A comprehensive computational evaluation for a large number of maps with different properties shows that the proposed method outperforms sampling-based algorithms such as Probabilistic Roadmaps (PRM) and exact methods such as Visibility Graphs (VG) by computing close-to-optimal solution paths with a specified minimum obstacle clearance in less time.
Author	Schmidt, Klaus Werner Al-Dahhan, Mohammed Rabeea Hashim
Author_xml	– sequence: 1 givenname: Mohammed Rabeea Hashim orcidid: 0000-0003-1376-6825 surname: Al-Dahhan fullname: Al-Dahhan, Mohammed Rabeea Hashim organization: Department of Electronic and Communication Engineering, Çankaya University, Ankara, Turkey – sequence: 2 givenname: Klaus Werner orcidid: 0000-0003-3840-2737 surname: Schmidt fullname: Schmidt, Klaus Werner email: schmidt@metu.edu.tr organization: Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey
BookMark	eNqFkEtLAzEUhYNUsGp_QTcDrlvznEmWtVQtFBR8bEMmk9SUMamZdNF_b-qUIm7M5obL_c4991yCgQ_eADBGcIoQFLez-Xzx8jLFEMMpgQhyJM7AEKNSTAgj5eDX_wKMum4D8-O5xaohqN5DDD644i7sfKPivnh3natd69K-sCEWC2uddsan4lmlj-K5Vd47v74G51a1nRkd6xV4u1-8zh8nq6eH5Xy2mmha0TRRgjaKIk5JQ42oDWcYiYY0HHIIDSSGUIW5LmsLlbK6JIwSaxFl3GBTlYxcgWWv2wS1kdvoPrNHGZSTP40Q11LF5HRrJC5ppipDoUC0QozDGgtWEk2srrESWeum19rG8LUzXZKbsIs-25eYMlpSyAnJU6Sf0jF0XTT2tBVBeQhc9oHLQ-DyGHimxB9Ku6SSCz5F5dp_2HHPOmPMaVs-gmVT5Bs87Y1-
CODEN	IAECCG
CitedBy_id	crossref_primary_10_1016_j_cag_2025_104175 crossref_primary_10_1142_S2301385025500438 crossref_primary_10_3390_drones8050171 crossref_primary_10_1016_j_cie_2024_110335 crossref_primary_10_1016_j_knosys_2022_110148 crossref_primary_10_1109_ACCESS_2025_3600708 crossref_primary_10_1109_ACCESS_2020_3043333 crossref_primary_10_1080_00207543_2021_1990433 crossref_primary_10_1177_09544070231222053 crossref_primary_10_3390_ijerph18084255 crossref_primary_10_1016_j_neucom_2024_128528 crossref_primary_10_3390_s22218177
Cites_doi	10.1287/mnsc.17.11.712 10.1177/1729881419838179 10.1016/j.rcim.2016.02.002 10.1109/SSD.2016.7473656 10.1007/s10846-014-0172-0 10.1007/978-3-319-08338-4_33 10.1017/S0263574719000195 10.1002/rob.20014 10.1109/TPAMI.1982.4767267 10.1109/ISATP.1999.782972 10.3390/s17081876 10.1109/70.508439 10.1016/j.robot.2016.08.001 10.1145/1341012.1341064 10.1016/j.autcon.2018.10.019 10.1016/j.eswa.2019.01.032 10.1109/MRA.2008.921540 10.1007/BF01386390 10.1007/978-3-540-74472-6_11 10.1109/TSMC.2015.2500027 10.1007/s12555-016-0111-x 10.1016/j.patcog.2016.05.021 10.1007/s10846-018-0805-9 10.1016/j.comgeo.2005.11.007 10.1109/CVPR.1992.223226 10.1007/s12555-011-0417-7 10.5755/j01.itc.48.2.21390 10.1109/TSSC.1968.300136 10.1016/j.robot.2017.10.011 10.1177/02783640122067453 10.1007/s11370-017-0236-7 10.1109/TCSET.2018.8336197 10.1017/S0263574718000735 10.1177/1729881419839596 10.1109/ACCESS.2019.2925623 10.1109/IROS.2006.282649 10.1017/S0263574714000289 10.1145/359156.359164 10.1177/0278364915577958 10.1016/j.jocs.2019.07.003 10.1109/ACCESS.2019.2908100 10.1007/s10846-017-0567-9 10.1007/978-3-540-77974-2 10.1007/s10846-015-0278-z 10.1115/1.4039287 10.1177/0278364911406761
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020
DBID	97E ESBDL RIA RIE AAYXX CITATION 7SC 7SP 7SR 8BQ 8FD JG9 JQ2 L7M L~C L~D DOA
DOI	10.1109/ACCESS.2020.3010819
DatabaseName	IEEE Xplore (IEEE) IEEE Xplore Open Access Journals IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Engineered Materials Abstracts METADEX Technology Research Database Materials Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional DOAJ Directory of Open Access Journals
DatabaseTitle	CrossRef Materials Research Database Engineered Materials Abstracts Technology Research Database Computer and Information Systems Abstracts – Academic Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Advanced Technologies Database with Aerospace METADEX Computer and Information Systems Abstracts Professional
DatabaseTitleList	Materials Research Database
Database_xml	– sequence: 1 dbid: DOA name: DOAJ Directory of Open Access Journals url: https://www.doaj.org/ sourceTypes: Open Website – sequence: 2 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	2169-3536
EndPage	134781
ExternalDocumentID	oai_doaj_org_article_2648e27e4091471580b29563c3fcb2a9 10_1109_ACCESS_2020_3010819 9145546
Genre	orig-research
GroupedDBID	0R~ 4.4 5VS 6IK 97E AAJGR ABAZT ABVLG ACGFS ADBBV AGSQL ALMA_UNASSIGNED_HOLDINGS BCNDV BEFXN BFFAM BGNUA BKEBE BPEOZ EBS EJD ESBDL GROUPED_DOAJ IPLJI JAVBF KQ8 M43 M~E O9- OCL OK1 RIA RIE RNS AAYXX CITATION 7SC 7SP 7SR 8BQ 8FD JG9 JQ2 L7M L~C L~D
ID	FETCH-LOGICAL-c474t-a94da41843d4e9be85219d3d80800e03e34a28c6bf0aafc63543ff1458e2e7653
IEDL.DBID	DOA
ISICitedReferencesCount	17
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000554372500001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	2169-3536
IngestDate	Fri Oct 03 12:50:47 EDT 2025 Sun Nov 30 04:31:29 EST 2025 Sat Nov 29 04:13:59 EST 2025 Tue Nov 18 21:00:23 EST 2025 Wed Aug 27 02:31:30 EDT 2025
IsDoiOpenAccess	true
IsOpenAccess	true
IsPeerReviewed	true
IsScholarly	true
Language	English
License	https://creativecommons.org/licenses/by/4.0/legalcode
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c474t-a94da41843d4e9be85219d3d80800e03e34a28c6bf0aafc63543ff1458e2e7653
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ORCID	0000-0003-1376-6825 0000-0003-3840-2737
OpenAccessLink	https://doaj.org/article/2648e27e4091471580b29563c3fcb2a9
PQID	2454640833
PQPubID	4845423
PageCount	18
ParticipantIDs	crossref_primary_10_1109_ACCESS_2020_3010819 proquest_journals_2454640833 ieee_primary_9145546 crossref_citationtrail_10_1109_ACCESS_2020_3010819 doaj_primary_oai_doaj_org_article_2648e27e4091471580b29563c3fcb2a9
PublicationCentury	2000
PublicationDate	20200000 2020-00-00 20200101 2020-01-01
PublicationDateYYYYMMDD	2020-01-01
PublicationDate_xml	– year: 2020 text: 20200000
PublicationDecade	2020
PublicationPlace	Piscataway
PublicationPlace_xml	– name: Piscataway
PublicationTitle	IEEE access
PublicationTitleAbbrev	Access
PublicationYear	2020
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref13 ref12 ref15 ref14 spanogianopoulos (ref2) 2016 ref52 ref55 ref11 ref10 ref17 ref16 ref19 ref18 ref51 ref50 ref46 ref45 (ref53) 2019 ref48 al-dahhan (ref35) 2019; 16 ref42 ref41 ref44 ref43 choset (ref23) 2005 ref49 mestetskiy (ref47) 2008 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref40 ref34 ref37 ref36 ref31 ref30 ref32 ref1 ref39 ref38 oh (ref33) 2017 corke (ref22) 2013 ref24 ref26 ref25 ref20 khan (ref21) 2017; 33 al-dahhan (ref54) 2020 ref28 ref27 ref29
References_xml	– ident: ref50 doi: 10.1287/mnsc.17.11.712 – ident: ref24 doi: 10.1177/1729881419838179 – ident: ref30 doi: 10.1016/j.rcim.2016.02.002 – ident: ref28 doi: 10.1109/SSD.2016.7473656 – ident: ref29 doi: 10.1007/s10846-014-0172-0 – ident: ref37 doi: 10.1007/978-3-319-08338-4_33 – ident: ref40 doi: 10.1017/S0263574719000195 – ident: ref34 doi: 10.1002/rob.20014 – year: 2019 ident: ref53 publication-title: Version 9 6 0 1072779 (R2019a) – ident: ref45 doi: 10.1109/TPAMI.1982.4767267 – start-page: 64 year: 2017 ident: ref33 article-title: Edge n-level sparse visibility graphs: Fast optimal any-angle pathfinding using hierarchical taut paths publication-title: Proc 10th Annu Symp Combinat Search – ident: ref52 doi: 10.1109/ISATP.1999.782972 – ident: ref19 doi: 10.3390/s17081876 – year: 2005 ident: ref23 publication-title: Principles of Robot Motion Theory Algorithms and Implementations – ident: ref25 doi: 10.1109/70.508439 – ident: ref12 doi: 10.1016/j.robot.2016.08.001 – ident: ref38 doi: 10.1145/1341012.1341064 – volume: 16 start-page: 46 year: 2019 ident: ref35 article-title: Safe and efficient path planning for omni-directional robots using an inflated Voronoi boundary publication-title: ¸ Cankaya Univ J Sci Eng – ident: ref9 doi: 10.1016/j.autcon.2018.10.019 – ident: ref31 doi: 10.1016/j.eswa.2019.01.032 – ident: ref16 doi: 10.1109/MRA.2008.921540 – start-page: 299 year: 2016 ident: ref2 publication-title: Car-Like Mobile Robot Navigation A Survey – ident: ref48 doi: 10.1007/BF01386390 – ident: ref51 doi: 10.1007/978-3-540-74472-6_11 – ident: ref10 doi: 10.1109/TSMC.2015.2500027 – ident: ref43 doi: 10.1007/s12555-016-0111-x – ident: ref17 doi: 10.1016/j.patcog.2016.05.021 – ident: ref3 doi: 10.1007/s10846-018-0805-9 – ident: ref36 doi: 10.1016/j.comgeo.2005.11.007 – ident: ref46 doi: 10.1109/CVPR.1992.223226 – ident: ref39 doi: 10.1007/s12555-011-0417-7 – ident: ref20 doi: 10.5755/j01.itc.48.2.21390 – ident: ref49 doi: 10.1109/TSSC.1968.300136 – start-page: 251 year: 2008 ident: ref47 article-title: Binary image skeleton-Continuous approach publication-title: Proc Int Conf Comput Vis Theory Appl – volume: 33 start-page: 101 year: 2017 ident: ref21 article-title: On complete coverage path planning algorithms for non-holonomic mobile robots: Survey and challenges publication-title: J Inf Sci Eng – year: 2013 ident: ref22 publication-title: Robotics Vision and Control Fundamental Algorithms in MATLAB – ident: ref14 doi: 10.1016/j.robot.2017.10.011 – ident: ref26 doi: 10.1177/02783640122067453 – ident: ref5 doi: 10.1007/s11370-017-0236-7 – ident: ref42 doi: 10.1109/TCSET.2018.8336197 – year: 2020 ident: ref54 publication-title: The Path Planning for Mobile Robot Based on Voronoi Diagram – ident: ref7 doi: 10.1017/S0263574718000735 – ident: ref1 doi: 10.1177/1729881419839596 – ident: ref15 doi: 10.1109/ACCESS.2019.2925623 – ident: ref18 doi: 10.1109/IROS.2006.282649 – ident: ref4 doi: 10.1017/S0263574714000289 – ident: ref32 doi: 10.1145/359156.359164 – ident: ref27 doi: 10.1177/0278364915577958 – ident: ref11 doi: 10.1016/j.jocs.2019.07.003 – ident: ref6 doi: 10.1109/ACCESS.2019.2908100 – ident: ref8 doi: 10.1007/s10846-017-0567-9 – ident: ref55 doi: 10.1007/978-3-540-77974-2 – ident: ref41 doi: 10.1007/s10846-015-0278-z – ident: ref44 doi: 10.1115/1.4039287 – ident: ref13 doi: 10.1177/0278364911406761
SSID	ssj0000816957
Score	2.2615685
Snippet	The subject of this paper is the computation of paths for mobile robots that navigate from a start position to a goal position in environments with static...
SourceID	doaj proquest crossref ieee
SourceType	Open Website Aggregation Database Enrichment Source Index Database Publisher
StartPage	134764
SubjectTerms	Algorithms Barriers Business metrics Measurement Mobile robots Navigation obstacles Path planning Performance measurement Robots Safety Shape Straight lines Visibility Voronoi diagram Voronoi graphs Waypoints
SummonAdditionalLinks	– databaseName: IEEE Electronic Library (IEL) dbid: RIE link: http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8QwEB508aAHX6u4vujBo9U2SZvkqIviSTyoeAtpOoUF2ZV9CPvvnaTZIiiCt9ImYTqTdB5Nvg_ggtscVS5kirrgqbCVSxWzBRmkaHRZ1UJjHcgm5OOjenvTT2tw2Z2FQcSw-Qyv_GX4l19P3MKXyq61R9UW5TqsS1m2Z7W6eoonkNCFjMBCeaavb4ZDegdKARllppR2KI-m8835BIz-SKry40sc3Mv9zv8E24XtGEYmN63d92ANx_uw9Q1csA_y1YMTTEbJbWBOmi6T11HcC7tMKFRN7gJ6BA2cPFEYmKzoiw7g5f7uefiQRpqE1Akp5qnVorbC87bUAnWFijyyrnntESMzzDhyYZlyZdVk1jaOIgzBm4YkVshQlgU_hN54MsYjSLJGNVo7dHluPRaYLlhm85JJJ0XFlRgAW-nPuIgh7qks3k3IJTJtWqUbr3QTlT6Ay67TRwuh8XfzW2-YrqnHvw43SOMmLifj9-Uhk0jZKU20vFBZxSjT4443rmKWBul7K3WDRAMN4HRlZhPX6swwQU8EhaL8-PdeJ7DpBWwLL6fQm08XeAYb7nM-mk3PwzT8AjI918o priority: 102 providerName: IEEE
Title	Voronoi Boundary Visibility for Efficient Path Planning
URI	https://ieeexplore.ieee.org/document/9145546 https://www.proquest.com/docview/2454640833 https://doaj.org/article/2648e27e4091471580b29563c3fcb2a9
Volume	8
WOSCitedRecordID	wos000554372500001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVAON databaseName: DOAJ Directory of Open Access Journals customDbUrl: eissn: 2169-3536 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000816957 issn: 2169-3536 databaseCode: DOA dateStart: 20130101 isFulltext: true titleUrlDefault: https://www.doaj.org/ providerName: Directory of Open Access Journals – providerCode: PRVHPJ databaseName: ROAD: Directory of Open Access Scholarly Resources customDbUrl: eissn: 2169-3536 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000816957 issn: 2169-3536 databaseCode: M~E dateStart: 20130101 isFulltext: true titleUrlDefault: https://road.issn.org providerName: ISSN International Centre
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV3PS8MwFA4yPOhB1ClO5-jBo2X51SY5bmPDi2MHHbuFNE1hIJtsU9jFv92XNBsDQS9eemjTNPlem_deefk-hB6YIU4SLlKnMpZyU9hUUpOBQbJK5UXJlSuD2IQYj-VspiYHUl--JqymB66B6_oKLEeFgzwEuiSZxAWFmJ5ZVtmCmrB1Dwt1kEyFNViSXGUi0gwRrLq9wQBmBAkhhTwVkhDpuXUOXFFg7I8SKz_W5eBsRufoLEaJSa8e3QU6cotLdHrAHdhEYuq5B5bzpB-EkVbbZDqPpa7bBCLRZBjIIcCnJBOI8pKdOtEVeh0NXwZPaVRBSC0XfJMaxUvDvSxLyZ0qnASHq0pWekJI7DBzjBsqbV5U2JjKQgDBWVURngFsTuQZu0aNxXLhblCCK1kpZZ0lxHiqL5VRbEhOhRW8YJK3EN0Bom2kCPdKFW86pApY6RpF7VHUEcUWetzf9F4zZPzevO-R3jf19NbhBBhdR6Prv4zeQk1vp30nytOt87yF2ju76fgprjXlcIVDpMlu_-PRd-jET6f-C9NGjc3qw92jY_u5ma9XnfAWwvH5a9gJewm_AZT124I
linkProvider	Directory of Open Access Journals
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1La9wwEB7StND20Fdasm3a-tBj3MjS2JKOyZKQ0nTJIQ25CVkew0LYLZtNIP--I1lrAi2F3owtifGM5HlY-j6AL8pXZCrUJdlalejbUBrpazZI3dum7dBSl8gm9Gxmrq7s-Rbsj2dhiChtPqOv8TL9y--W4TaWyg5sRNXG5hE8rhGlGE5rjRWVSCFha52hhSphDw6nU34LTgIl56aceJiIp_PA_SSU_kyr8se3ODmYk5f_J9oreJEDyeJwsPxr2KLFG3j-AF5wB_RlhCdYzoujxJ20ui8u53k37H3BwWpxnPAjeODinAPBYkNg9BZ-nhxfTE_LTJRQBtS4Lr3FzmNkbumQbEuGfbLtVBcxIwUJRQq9NKFpe-F9HzjGQNX3LLEhSbqp1TvYXiwXtAuF6E1vbaBQVT6igdlaCl81UgeNrTI4AbnRnwsZRTySWVy7lE0I6walu6h0l5U-gf2x068BROPfzY-iYcamEQE73WCNu7ygXNyZR1IT56c81araiFZyrqeC6kMrPQ-yE600DpINNIG9jZldXq03TiI_QQ5G1fu_9_oMT08vfpy5s2-z7x_gWRR2KMPswfZ6dUsf4Um4W89vVp_SlPwNlgfbEQ
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Voronoi+Boundary+Visibility+for+Efficient+Path+Planning&rft.jtitle=IEEE+access&rft.au=Al-Dahhan%2C+Mohammed+Rabeea+Hashim&rft.au=Schmidt%2C+Klaus+Werner&rft.date=2020&rft.pub=IEEE&rft.eissn=2169-3536&rft.volume=8&rft.spage=134764&rft.epage=134781&rft_id=info:doi/10.1109%2FACCESS.2020.3010819&rft.externalDocID=9145546
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2169-3536&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2169-3536&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2169-3536&client=summon