{"id":"https://openalex.org/W346637671","doi":"https://doi.org/10.1007/978-3-642-36062-6_11","title":"Path-Planning with Collision Avoidance in Automotive Industry","display_name":"Path-Planning with Collision Avoidance in Automotive Industry","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W346637671","doi":"https://doi.org/10.1007/978-3-642-36062-6_11","mag":"346637671"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-642-36062-6_11","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-642-36062-6_11","pdf_url":"https://link.springer.com/content/pdf/10.1007%2F978-3-642-36062-6_11.pdf","source":{"id":"https://openalex.org/S4210175514","display_name":"IFIP International Federation for Information Processing/IFIP","issn_l":"1571-5736","issn":["1571-5736","1861-2288"],"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":"IFIP Advances in Information and Communication Technology","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://link.springer.com/content/pdf/10.1007%2F978-3-642-36062-6_11.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109382282","display_name":"Chantal Landry","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092021","display_name":"Weierstrass Institute for Applied Analysis and Stochastics","ror":"https://ror.org/00h1x4t21","country_code":"DE","type":"facility","lineage":["https://openalex.org/I315704651","https://openalex.org/I4210092021"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Chantal Landry","raw_affiliation_strings":["Weierstrass Institute, Mohrenstr. 39, 10117, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Weierstrass Institute, Mohrenstr. 39, 10117, Berlin, Germany","institution_ids":["https://openalex.org/I4210092021"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011281312","display_name":"Matthias Gerdts","orcid":"https://orcid.org/0000-0001-8674-5764"},"institutions":[{"id":"https://openalex.org/I40527276","display_name":"Universit\u00e4t der Bundeswehr M\u00fcnchen","ror":"https://ror.org/05kkv3f82","country_code":"DE","type":"education","lineage":["https://openalex.org/I1315109972","https://openalex.org/I40527276","https://openalex.org/I4387152969"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Gerdts","raw_affiliation_strings":["Institute of Mathematics and Applied Computing, University of the Federal Armed Forces at Munich, Werner-Heisenberg-Weg 39, 85577, Neubiberg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Applied Computing, University of the Federal Armed Forces at Munich, Werner-Heisenberg-Weg 39, 85577, Neubiberg, Germany","institution_ids":["https://openalex.org/I40527276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111442239","display_name":"Ren\u00e9 Henrion","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092021","display_name":"Weierstrass Institute for Applied Analysis and Stochastics","ror":"https://ror.org/00h1x4t21","country_code":"DE","type":"facility","lineage":["https://openalex.org/I315704651","https://openalex.org/I4210092021"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ren\u00e9 Henrion","raw_affiliation_strings":["Weierstrass Institute, Mohrenstr. 39, 10117, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Weierstrass Institute, Mohrenstr. 39, 10117, Berlin, Germany","institution_ids":["https://openalex.org/I4210092021"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066618023","display_name":"Dietmar H\u00f6mberg","orcid":"https://orcid.org/0000-0001-9460-5729"},"institutions":[{"id":"https://openalex.org/I4210092021","display_name":"Weierstrass Institute for Applied Analysis and Stochastics","ror":"https://ror.org/00h1x4t21","country_code":"DE","type":"facility","lineage":["https://openalex.org/I315704651","https://openalex.org/I4210092021"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dietmar H\u00f6mberg","raw_affiliation_strings":["Weierstrass Institute for Applied Analysis and Stochastics (WIAS), Mohrenstra\u00dfe 39, 10117, Berlin, Germany","Weierstrass Institute, Mohrenstr. 39, 10117, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Weierstrass Institute for Applied Analysis and Stochastics (WIAS), Mohrenstra\u00dfe 39, 10117, Berlin, Germany","institution_ids":["https://openalex.org/I4210092021"]},{"raw_affiliation_string":"Weierstrass Institute, Mohrenstr. 39, 10117, Berlin, Germany","institution_ids":["https://openalex.org/I4210092021"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109382282"],"corresponding_institution_ids":["https://openalex.org/I4210092021"],"apc_list":null,"apc_paid":null,"fwci":1.3218,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79309825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"102","last_page":"111"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7236666083335876},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.577257513999939},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5662686824798584},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5532926917076111},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5392099618911743},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5190935134887695},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.509374737739563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48342573642730713},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4812295436859131},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4751862585544586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4723157584667206},{"id":"https://openalex.org/keywords/lemma","display_name":"Lemma (botany)","score":0.4680364429950714},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4540669322013855},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4533109962940216},{"id":"https://openalex.org/keywords/corollary","display_name":"Corollary","score":0.4140075743198395},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39702507853507996},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3431622385978699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3285338580608368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2007034420967102}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7236666083335876},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.577257513999939},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5662686824798584},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5532926917076111},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5392099618911743},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5190935134887695},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.509374737739563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48342573642730713},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4812295436859131},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4751862585544586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4723157584667206},{"id":"https://openalex.org/C2777759810","wikidata":"https://www.wikidata.org/wiki/Q149316","display_name":"Lemma (botany)","level":3,"score":0.4680364429950714},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4540669322013855},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4533109962940216},{"id":"https://openalex.org/C2780012671","wikidata":"https://www.wikidata.org/wiki/Q1343870","display_name":"Corollary","level":2,"score":0.4140075743198395},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39702507853507996},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3431622385978699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3285338580608368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2007034420967102},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C46757340","wikidata":"https://www.wikidata.org/wiki/Q43238","display_name":"Poaceae","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-642-36062-6_11","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-642-36062-6_11","pdf_url":"https://link.springer.com/content/pdf/10.1007%2F978-3-642-36062-6_11.pdf","source":{"id":"https://openalex.org/S4210175514","display_name":"IFIP International Federation for Information Processing/IFIP","issn_l":"1571-5736","issn":["1571-5736","1861-2288"],"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":"IFIP Advances in Information and Communication Technology","raw_type":"book-chapter"},{"id":"pmh:oai:HAL:hal-01347528v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-01347528","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"25th System Modeling and Optimization (CSMO), Sep 2011, Berlin, Germany. pp.102-111, &#x27E8;10.1007/978-3-642-36062-6_11&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"doi:10.1007/978-3-642-36062-6_11","is_oa":true,"landing_page_url":"https://doi.org/10.1007/978-3-642-36062-6_11","pdf_url":"https://link.springer.com/content/pdf/10.1007%2F978-3-642-36062-6_11.pdf","source":{"id":"https://openalex.org/S4210175514","display_name":"IFIP International Federation for Information Processing/IFIP","issn_l":"1571-5736","issn":["1571-5736","1861-2288"],"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":"IFIP Advances in Information and Communication Technology","raw_type":"book-chapter"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6399999856948853}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W346637671.pdf","grobid_xml":"https://content.openalex.org/works/W346637671.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1530113549","https://openalex.org/W1564897360","https://openalex.org/W1582919213","https://openalex.org/W1970101292","https://openalex.org/W2005411772","https://openalex.org/W2045471590","https://openalex.org/W2093156090","https://openalex.org/W2094539937","https://openalex.org/W2131286638","https://openalex.org/W2144509468","https://openalex.org/W2145704533","https://openalex.org/W2611243847","https://openalex.org/W2734907804","https://openalex.org/W3135177434","https://openalex.org/W3217246742"],"related_works":["https://openalex.org/W2376029318","https://openalex.org/W2914748907","https://openalex.org/W4288626316","https://openalex.org/W2949964783","https://openalex.org/W2564729376","https://openalex.org/W2013033460","https://openalex.org/W2063779735","https://openalex.org/W4206501120","https://openalex.org/W899704651","https://openalex.org/W4381746183"],"abstract_inverted_index":{"An":[0],"optimal":[1,64],"control":[2,65],"problem":[3],"to":[4,56],"find":[5],"the":[6,18,40,57,63],"fastest":[7],"collision-free":[8],"trajectory":[9],"of":[10,17,33],"a":[11,31],"robot":[12,19],"is":[13,20,30,37,54],"presented.":[14],"The":[15,26],"dynamics":[16],"governed":[21],"by":[22],"ordinary":[23],"differential":[24],"equations.":[25],"collision":[27],"avoidance":[28],"criterion":[29],"consequence":[32],"Farkas\u2019s":[34],"lemma":[35],"and":[36],"included":[38],"in":[39],"model":[41],"as":[42],"state":[43],"constraints.":[44],"Finally":[45],"an":[46],"active":[47],"set":[48],"strategy":[49],"based":[50],"on":[51],"backface":[52],"culling":[53],"added":[55],"sequential":[58],"quadratic":[59],"programming":[60],"which":[61],"solves":[62],"problem.":[66]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
