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In this paper, the filling container algorithm is proposed to alleviate the concave area problem in 2D map space, which is inspired from the scenario of pouring water into a cup. With this method, concave areas can be largely excluded by scanning the map repeatedly. And the effectiveness has been proved in our experiments.<\/jats:p>","DOI":"10.1017\/s0263574720000818","type":"journal-article","created":{"date-parts":[[2020,9,10]],"date-time":"2020-09-10T04:19:56Z","timestamp":1599711596000},"page":"1-17","source":"Crossref","is-referenced-by-count":1,"title":["One Way to Fill All the Concave Region in Grid-Based Map"],"prefix":"10.1017","author":[{"given":"ZiYing","family":"Zhang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1418-1469","authenticated-orcid":false,"given":"Xu","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Dong","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Ke","family":"Geng","sequence":"additional","affiliation":[]},{"given":"YuLong","family":"Meng","sequence":"additional","affiliation":[]},{"given":"GuangSheng","family":"Feng","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,9,10]]},"reference":[{"key":"S0263574720000818_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-020-00313-y"},{"key":"S0263574720000818_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2946448"},{"key":"S0263574720000818_ref26","unstructured":"26. Lee, M. C. and Park, M. G. , \u201cArtificial Potential Field Based Path Planning for Mobile Robots Using a Virtual Obstacle Concept,\u201d Proceedings 2003 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003). 2, 735\u2013740 (2003)."},{"key":"S0263574720000818_ref10","unstructured":"10. Chan, R. H. T. , Tam, P. K. S. and Leung, D. N. K. , \u201cRobot Navigation in Unknown Terrains via Multi-resolution Grid Maps,\u201d 1991 International Conference on Industrial Electronics, Control and Instrumentation (1991) pp. 1138\u20131143."},{"key":"S0263574720000818_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/70.163777"},{"key":"S0263574720000818_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.10.002"},{"key":"S0263574720000818_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087051"},{"key":"S0263574720000818_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-04245-8"},{"key":"S0263574720000818_ref20","unstructured":"20. Kaleci, B. , Senler, \u00c7. M. , Parlaktuna, O. and G\u00fcrel, U. , \u201cConstructing Topological Map from Metric Map Using Spectral Clustering,\u201d 2015 IEEE 27th International Conference on Tools with Artificial Intelligence (ICTAI) (2015) pp. 139\u2013145."},{"key":"S0263574720000818_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"S0263574720000818_ref7","unstructured":"7. Carsten, J. , Rankin, A. , Ferguson, D. and Stentz, A. , \u201cGlobal Path Planning on Board the Mars Exploration Rovers,\u201d IEEE Aerospace Conference (2007) pp. 1\u201311."},{"key":"S0263574720000818_ref17","doi-asserted-by":"publisher","DOI":"10.1145\/331499.331504"},{"key":"S0263574720000818_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(97)00078-7"},{"key":"S0263574720000818_ref25","doi-asserted-by":"crossref","unstructured":"25. Park, M. G. and Lee, M. 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Kallmann, M. , \u201cShortest Paths with Arbitrary Clearance from Navigation Meshes,\u201d Proceedings of the 2010 ACM SIGGRAPH\/Eurographics Symposium on Computer Animation (2010) pp. 159\u2013168."},{"volume-title":"Found of Robotics","year":"1998","author":"Amatoc","key":"S0263574720000818_ref3"},{"key":"S0263574720000818_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000289"},{"key":"S0263574720000818_ref23","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1016\/0020-0190(78)90041-8","article-title":"A reevaluation of an efficient algorithm for determining the convex hull of a finite planar set","volume":"7","author":"Graham","year":"1978","journal-title":"Inf. Process. Lett."},{"key":"S0263574720000818_ref1","first-page":"28","article-title":"A Formal Basis for the Heuristic Determination of Minimum Cost Paths","volume":"4","author":"Hart","year":"1972","journal-title":"IEEE Trans. Syst. Sci. Cybern."},{"key":"S0263574720000818_ref12","unstructured":"12. 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