{"id":"https://openalex.org/W7204881697","doi":"https://doi.org/10.48550/arxiv.2608.29108","title":"From Multi-Modal Paths to Executable Trajectories: A Trajectory Planning Framework for 4WIS Robots","display_name":"From Multi-Modal Paths to Executable Trajectories: A Trajectory Planning Framework for 4WIS Robots","publication_year":2026,"publication_date":"2026-08-29","ids":{"openalex":"https://openalex.org/W7204881697","doi":"https://doi.org/10.48550/arxiv.2608.29108"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2608.29108","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2608.29108","pdf_url":"https://arxiv.org/pdf/2608.29108","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2608.29108","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033714303","display_name":"Runjiao Bao","orcid":"https://orcid.org/0009-0009-7999-8638","observed_orcids":["https://orcid.org/0009-0009-7999-8638"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bao, Runjiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5148879856","display_name":"Lin Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhang, Lin","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong , Shatin , N .T. , Hong Kong SAR , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong , Shatin , N .T. , Hong Kong SAR , China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129072158","display_name":"Yongkang Xu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xu, Yongkang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong , Shatin , N .T. , Hong Kong SAR , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong , Shatin , N .T. , Hong Kong SAR , China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023408487","display_name":"Shoukun Wang","orcid":"https://orcid.org/0000-0002-2433-6655","observed_orcids":["https://orcid.org/0000-0002-2433-6655"]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wang, Shoukun","raw_affiliation_strings":["Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong , Shatin , N .T. , Hong Kong SAR , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , The Chinese University of Hong Kong , Shatin , N .T. , Hong Kong SAR , China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"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":0.9994999766349792,"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":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hybrid-a","display_name":"Hybrid A*","score":0.7960000038146973},{"id":"https://openalex.org/keywords/mobile-robot-path-planning","display_name":"mobile robot path planning","score":0.6110000014305115}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.803600013256073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5972999930381775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960999727249146},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5541999936103821},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5295000076293945},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4781000018119812},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4708000123500824},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.4650999903678894},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4555000066757202},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4375},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.41589999198913574},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.4065000116825104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33880001306533813},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3208000063896179},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3098999857902527},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3077000081539154},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28060001134872437},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2676999866962433},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2639999985694885},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25519999861717224},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2608.29108","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2608.29108","pdf_url":"https://arxiv.org/pdf/2608.29108","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2608.29108","doi":"https://doi.org/10.48550/arxiv.2608.29108","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2608.29108","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2608.29108","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2608.29108","pdf_url":"https://arxiv.org/pdf/2608.29108","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G4539821580","display_name":null,"funder_award_id":"62473044","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7204881697.pdf","grobid_xml":"https://content.openalex.org/works/W7204881697.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Four-wheel":[0],"independent":[1],"steering":[2],"(4WIS)":[3],"mobile":[4,183],"robots":[5],"support":[6],"multiple":[7],"motion":[8,71],"modes,":[9,72],"offering":[10],"high":[11],"maneuverability":[12],"in":[13,148],"narrow":[14],"and":[15,76,90,154,169,178],"complex":[16],"environments.":[17],"However,":[18],"existing":[19],"planning":[20,45],"methods":[21],"often":[22],"fail":[23],"to":[24,30,65,99,122],"fully":[25],"exploit":[26],"these":[27],"capabilities,":[28],"leading":[29],"suboptimal":[31],"trajectory":[32,44,55,109,185],"quality.":[33],"To":[34],"address":[35],"this":[36,38],"limitation,":[37],"paper":[39],"proposes":[40],"a":[41,66,107,160,176],"multi-modal":[42,125,182],"global":[43,84],"framework":[46,111],"that":[47,139],"couples":[48],"mode-augmented":[49],"front-end":[50,59],"search":[51,85,101],"with":[52,132],"mode-consistent":[53],"segment-wise":[54,108],"optimization.":[56],"In":[57,103],"the":[58,83,104,140,144,166,172],"stage,":[60,106],"Hybrid":[61],"A*":[62],"is":[63,120],"extended":[64],"four-dimensional":[67],"state":[68],"space":[69],"incorporating":[70],"while":[73],"mode-switching-aware":[74],"cost":[75],"heuristic":[77],"functions":[78],"embed":[79],"mode":[80,134],"decisions":[81],"into":[82,127],"process.":[86],"Multi-modal":[87],"Reeds-Shepp":[88],"curves":[89],"an":[91,114],"intelligent":[92],"terminal":[93,152],"connection":[94],"strategy":[95],"are":[96],"further":[97,164],"designed":[98],"improve":[100],"efficiency.":[102],"back-end":[105],"optimization":[110],"based":[112],"on":[113,159],"improved":[115],"iterative":[116],"safe":[117],"corridor":[118],"scheme":[119],"developed":[121],"convert":[123],"discrete":[124],"paths":[126],"smooth,":[128],"kinematically":[129],"feasible":[130],"trajectories":[131],"stationary":[133],"transitions.":[135],"Experimental":[136],"results":[137],"show":[138],"proposed":[141],"method":[142],"achieves":[143],"best":[145],"overall":[146],"performance":[147],"safety,":[149],"arrival":[150],"time,":[151],"accuracy":[153],"computation":[155],"time.":[156],"Real-world":[157],"experiments":[158],"physical":[161],"4WIS":[162],"robot":[163,184],"validate":[165],"practical":[167],"effectiveness":[168],"executability":[170],"of":[171],"generated":[173],"trajectories,":[174],"providing":[175],"flexible":[177],"high-performance":[179],"solution":[180],"for":[181],"planning.":[186]},"counts_by_year":[],"updated_date":"2026-09-30T09:27:27.532063","created_date":"2026-09-02T00:00:00"}