{"id":"https://openalex.org/W2985562415","doi":"https://doi.org/10.1007/s41315-019-00109-z","title":"A bilevel optimal motion planning (BOMP) model with application to autonomous parking","display_name":"A bilevel optimal motion planning (BOMP) model with application to autonomous parking","publication_year":2019,"publication_date":"2019-11-12","ids":{"openalex":"https://openalex.org/W2985562415","doi":"https://doi.org/10.1007/s41315-019-00109-z","mag":"2985562415"},"language":"en","primary_location":{"id":"doi:10.1007/s41315-019-00109-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-019-00109-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s41315-019-00109-z.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s41315-019-00109-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039183112","display_name":"Shenglei Shi","orcid":"https://orcid.org/0000-0003-0034-0569"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shenglei Shi","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100519007","display_name":"Youlun Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youlun Xiong","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086643063","display_name":"Jiankui Chen","orcid":"https://orcid.org/0000-0003-2732-2221"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankui Chen","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100770696","display_name":"Caihua Xiong","orcid":"https://orcid.org/0000-0003-2326-0289"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caihua Xiong","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039183112"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":1.2255,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83863443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"3","issue":"4","first_page":"370","last_page":"382"},"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":0.9937999844551086,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9817000031471252,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/polyhedron","display_name":"Polyhedron","score":0.61326664686203},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6052349805831909},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5665928721427917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5556782484054565},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43355610966682434},{"id":"https://openalex.org/keywords/bilevel-optimization","display_name":"Bilevel optimization","score":0.43277308344841003},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39183539152145386},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.3742918372154236},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2613171339035034},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11415985226631165}],"concepts":[{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.61326664686203},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6052349805831909},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5665928721427917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5556782484054565},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43355610966682434},{"id":"https://openalex.org/C3309286","wikidata":"https://www.wikidata.org/wiki/Q4907693","display_name":"Bilevel optimization","level":3,"score":0.43277308344841003},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39183539152145386},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3742918372154236},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2613171339035034},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11415985226631165},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s41315-019-00109-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-019-00109-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s41315-019-00109-z.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s41315-019-00109-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s41315-019-00109-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s41315-019-00109-z.pdf","source":{"id":"https://openalex.org/S4210177954","display_name":"International Journal of Intelligent Robotics and Applications","issn_l":"2366-5971","issn":["2366-5971","2366-598X"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Robotics and Applications","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G7298260633","display_name":null,"funder_award_id":"51327801","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"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/W2985562415.pdf","grobid_xml":"https://content.openalex.org/works/W2985562415.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1822858039","https://openalex.org/W1965730439","https://openalex.org/W1971998222","https://openalex.org/W1996183429","https://openalex.org/W2004815408","https://openalex.org/W2005629858","https://openalex.org/W2008929839","https://openalex.org/W2026570525","https://openalex.org/W2027311349","https://openalex.org/W2043510487","https://openalex.org/W2078798748","https://openalex.org/W2079104779","https://openalex.org/W2103120971","https://openalex.org/W2113029345","https://openalex.org/W2123871098","https://openalex.org/W2132242891","https://openalex.org/W2139729686","https://openalex.org/W2154154151","https://openalex.org/W2155858901","https://openalex.org/W2221321873","https://openalex.org/W2292169362","https://openalex.org/W2306644740","https://openalex.org/W2312766351","https://openalex.org/W2313274380","https://openalex.org/W2314779162","https://openalex.org/W2345973286","https://openalex.org/W2517236235","https://openalex.org/W2521809336","https://openalex.org/W2524886531","https://openalex.org/W2605944550","https://openalex.org/W2611243847","https://openalex.org/W2614367549","https://openalex.org/W2749777304","https://openalex.org/W2765689934","https://openalex.org/W2787446418","https://openalex.org/W2787876816","https://openalex.org/W2791095976","https://openalex.org/W2798500587","https://openalex.org/W2961703895","https://openalex.org/W3029645440","https://openalex.org/W3092476034","https://openalex.org/W4293775970"],"related_works":["https://openalex.org/W2340378315","https://openalex.org/W3044651776","https://openalex.org/W1994436307","https://openalex.org/W2795565301","https://openalex.org/W2896140431","https://openalex.org/W1495503294","https://openalex.org/W2745612259","https://openalex.org/W2476621126","https://openalex.org/W2188892750","https://openalex.org/W2119826439"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"paper,":[3],"we":[4],"present":[5],"a":[6,60,67,106,135,154,156],"bilevel":[7],"optimal":[8,24,76,87,109,115],"motion":[9,20],"planning":[10,21],"(BOMP)":[11],"model":[12,18,53],"for":[13,34,43,69,161],"autonomous":[14,162],"parking.":[15],"The":[16,47],"BOMP":[17,52,93,159,180],"treats":[19],"as":[22,66,84,134],"an":[23,75,80],"control":[25,77,88,110,116],"problem,":[26],"in":[27,146],"which":[28],"the":[29,39,51,56,70,92,97,113,119,123,127,179,185,196],"upper":[30],"level":[31,41,58,125],"is":[32,42,54,59,102,126,170],"designed":[33],"vehicle":[35],"nonlinear":[36,108],"dynamics,":[37],"and":[38,167,174,182],"lower":[40,57,124],"geometry":[44],"collision-free":[45,168],"constraints.":[46,85],"significant":[48],"feature":[49],"of":[50,192],"that":[55,64,132,184],"linear":[61],"programming":[62],"problem":[63,78,83,94],"serves":[65],"constraint":[68],"upper-level":[71],"problem.":[72,111,121],"That":[73],"is,":[74],"contains":[79],"embedded":[81],"optimization":[82],"Traditional":[86],"methods":[89],"cannot":[90],"solve":[91],"directly.":[95],"Therefore,":[96],"modified":[98],"approximate":[99,144],"Karush\u2013Kuhn\u2013Tucker":[100],"theory":[101],"applied":[103],"to":[104],"generate":[105],"general":[107],"Then":[112],"pseudospectral":[114],"method":[117],"solves":[118],"converted":[120],"Particularly,":[122],"$$J_2$$":[128],"<mml:math":[129],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"><mml:msub><mml:mi>J</mml:mi><mml:mn>2</mml:mn></mml:msub></mml:math>":[130],"-function":[131],"acts":[133],"distance":[136],"function":[137],"between":[138],"convex":[139],"polyhedron":[140],"objects.":[141],"Polyhedrons":[142],"can":[143],"objects":[145],"higher":[147],"precision":[148],"than":[149],"spheres":[150],"or":[151],"ellipsoids.":[152],"As":[153],"result,":[155],"fast":[157],"high-precision":[158],"algorithm":[160],"parking":[163],"concerning":[164],"dynamical":[165],"feasibility":[166],"property":[169],"proposed.":[171],"Simulation":[172],"results":[173],"experiment":[175],"on":[176],"Turtlebot3":[177],"validate":[178],"model,":[181],"demonstrate":[183],"computation":[186],"speed":[187],"increases":[188],"almost":[189],"two":[190],"orders":[191],"magnitude":[193],"compared":[194],"with":[195],"area":[197],"criterion":[198],"based":[199],"collision":[200],"avoidance":[201],"method.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
