{"id":"https://openalex.org/W2789394407","doi":"https://doi.org/10.1007/978-3-319-76072-8_10","title":"An Exact Optimal Kinodynamic Planner Based on Homotopy Class Constraints","display_name":"An Exact Optimal Kinodynamic Planner Based on Homotopy Class Constraints","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2789394407","doi":"https://doi.org/10.1007/978-3-319-76072-8_10","mag":"2789394407"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-76072-8_10","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-76072-8_10","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073725448","display_name":"Ba\u015fak Sak\u00e7ak","orcid":"https://orcid.org/0000-0002-0388-6172"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Basak Sakcak","raw_affiliation_strings":["Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32-20133, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32-20133, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089088404","display_name":"Luca Bascetta","orcid":"https://orcid.org/0000-0002-5029-1083"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Bascetta","raw_affiliation_strings":["Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32-20133, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32-20133, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004708144","display_name":"Gianni Ferretti","orcid":"https://orcid.org/0000-0001-5321-8992"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianni Ferretti","raw_affiliation_strings":["Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32-20133, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Piazza L. da Vinci, 32-20133, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073725448"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":0.1815,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60135376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"140","last_page":"152"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9860000014305115,"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/T12158","display_name":"Guidance and Control Systems","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.6888671517372131},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6347792148590088},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6030927300453186},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5843640565872192},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5644896030426025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5632862448692322},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5532790422439575},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5430533289909363},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5240576267242432},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5155563354492188},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4175057113170624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40194958448410034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3918808400630951},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3651195168495178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3372606635093689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13669872283935547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1083279550075531}],"concepts":[{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.6888671517372131},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6347792148590088},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6030927300453186},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5843640565872192},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5644896030426025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5632862448692322},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5532790422439575},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5430533289909363},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5240576267242432},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5155563354492188},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4175057113170624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40194958448410034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3918808400630951},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3651195168495178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3372606635093689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13669872283935547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1083279550075531},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-319-76072-8_10","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-76072-8_10","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:re.public.polimi.it:11311/1051685","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1051685","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1992157405","https://openalex.org/W1992787855","https://openalex.org/W2024924397","https://openalex.org/W2048820947","https://openalex.org/W2049561732","https://openalex.org/W2054585537","https://openalex.org/W2064045620","https://openalex.org/W2099893201","https://openalex.org/W2113029345","https://openalex.org/W2118382442","https://openalex.org/W2130527887","https://openalex.org/W2166077797","https://openalex.org/W2294538342","https://openalex.org/W2482392012","https://openalex.org/W2565410644","https://openalex.org/W2611243847","https://openalex.org/W3021035068","https://openalex.org/W4231761304"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174","https://openalex.org/W2050548713"],"abstract_inverted_index":null,"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}