The task of path planning is extremely investigated in mobile robotics to determine a suitable path for the robot from the source point to the target point. The intended path should satisfy purposes such as collision-free, shortest-path, or power-saving. In the case of a mobile robot, many constraints should be considered during the selection of path planning algorithms such as static or dynamic environment and holonomic or non-holonomic robot. There is a pool of path-planning algorithms in the literature. However, Dijkstra is still one of the effective algorithms due to its simplicity and capabilities to compute single-source shortest-path to every position in the workspace. Researchers propose several versions of the Dijkstra algorithm, especially in mobile robotics. In this paper, we propose an improved approach based on the Dijkstra algorithm with a simple sampling method to sample the workspace to avoid an exhaustive search of the Dijkstra algorithm which consumes time and resources. The goal is to identify the same optimal shortest path resulting from the Dijkstra algorithm with minimum time and number of turns i.e., a smoothed path. The simulation results show that the proposed method improves the Dijkstra algorithm with respect to the running time and the number of turns of the mobile robot and outperforms the RRT algorithm concerning the path length.

The detection of outliers in text documents is a highly challenging task, primarily due to the unstructured nature of documents and the curse of dimensionality. Text document outliers refer to text data that deviates from the text found in other documents belonging to the same category. Mining text document outliers has wide applications in various domains, including spam email identification, digital libraries, medical archives, enhancing the performance of web search engines, and cleaning corpora used in document classification. To address the issue of dimensionality, it is crucial to employ feature selection techniques that reduce the large number of features without compromising their representativeness of the domain. In this paper, we propose a hybrid density-based approach that incorporates mutual information for text document outlier detection. The proposed approach utilizes normalized mutual information to identify the most distinct features that characterize the target domain. Subsequently, we customize the well-known density-based local outlier factor algorithm to suit text document datasets. To evaluate the effectiveness of the proposed approach, we conduct experiments on synthetic and real datasets comprising twelve high-dimensional datasets. The results demonstrate that the proposed approach consistently outperforms conventional methods, achieving an average improvement of 5.73% in terms of the AUC metric. These findings highlight the remarkable enhancements achieved by leveraging normalized mutual information in conjunction with a density-based algorithm, particularly in high-dimensional datasets.