{"id":"https://openalex.org/W7165767545","doi":"https://doi.org/10.1016/j.jfranklin.2026.108842","title":"TSCDO: A lightweight and optimal trajectory planning algorithm for multiple vehicles in the cluttered warehouse scenario","display_name":"TSCDO: A lightweight and optimal trajectory planning algorithm for multiple vehicles in the cluttered warehouse scenario","publication_year":2026,"publication_date":"2026-06-24","ids":{"openalex":"https://openalex.org/W7165767545","doi":"https://doi.org/10.1016/j.jfranklin.2026.108842"},"language":"en","primary_location":{"id":"doi:10.1016/j.jfranklin.2026.108842","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jfranklin.2026.108842","pdf_url":null,"source":{"id":"https://openalex.org/S183498172","display_name":"Journal of the Franklin Institute","issn_l":"0016-0032","issn":["0016-0032","1879-2693"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Franklin Institute","raw_type":"journal-article"},"type":"article","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/A5071650459","display_name":"Bikang Hua","orcid":"https://orcid.org/0009-0001-7479-8807"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bikang Hua","raw_affiliation_strings":["The School of Automation, Beijing Institute of Technology, Beijing, 100086, China"],"raw_orcid":"https://orcid.org/0009-0001-7479-8807","affiliations":[{"raw_affiliation_string":"The School of Automation, Beijing Institute of Technology, Beijing, 100086, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128659801","display_name":"Zishang Xiang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zishang Xiang","raw_affiliation_strings":["The School of Automation, Beijing Institute of Technology, Beijing, 100086, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automation, Beijing Institute of Technology, Beijing, 100086, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056539856","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0001-5165-0802"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210126646","display_name":"Vanke (China)","ror":"https://ror.org/0329dzd04","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126646"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiyuan Chen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China","Vanke School of Public Health, Tsinghua University, Beijing, 100084, China"],"raw_orcid":"https://orcid.org/0000-0001-5165-0802","affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Vanke School of Public Health, Tsinghua University, Beijing, 100084, China","institution_ids":["https://openalex.org/I4210126646","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037931913","display_name":"G\u00f6khan \u0130nalhan","orcid":"https://orcid.org/0000-0002-4490-8358"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gokhan Inalhan","raw_affiliation_strings":["The School of Aerospace, Transport and Manufacturing, Cranfield University, Bedfordshire, Cranfield, MK43, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-4490-8358","affiliations":[{"raw_affiliation_string":"The School of Aerospace, Transport and Manufacturing, Cranfield University, Bedfordshire, Cranfield, MK43, United Kingdom","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["The School of Automation, Beijing Institute of Technology, Beijing, 100086, China"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","affiliations":[{"raw_affiliation_string":"The School of Automation, Beijing Institute of Technology, Beijing, 100086, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senchun Chai","raw_affiliation_strings":["The School of Automation, Beijing Institute of Technology, Beijing, 100086, China"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","affiliations":[{"raw_affiliation_string":"The School of Automation, Beijing Institute of Technology, Beijing, 100086, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["The School of Automation, Beijing Institute of Technology, Beijing, 100086, China"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"The School of Automation, Beijing Institute of Technology, Beijing, 100086, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5024866488"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2700,"currency":"USD","value_usd":2700},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.76109477,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"363","issue":"12","first_page":"108842","last_page":"108842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.33880001306533813,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.33880001306533813,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.33809998631477356,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.11869999766349792,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/trajectory","display_name":"Trajectory","score":0.531499981880188},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3395000100135803},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3116999864578247},{"id":"https://openalex.org/keywords/data-warehouse","display_name":"Data warehouse","score":0.30250000953674316},{"id":"https://openalex.org/keywords/warehouse","display_name":"Warehouse","score":0.2858999967575073}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914999842643738},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.531499981880188},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4909999966621399},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3628000020980835},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3395000100135803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3375999927520752},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3116999864578247},{"id":"https://openalex.org/C135572916","wikidata":"https://www.wikidata.org/wiki/Q193351","display_name":"Data warehouse","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C50416739","wikidata":"https://www.wikidata.org/wiki/Q181623","display_name":"Warehouse","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27480000257492065},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.27090001106262207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2671000063419342},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2639999985694885}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.jfranklin.2026.108842","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jfranklin.2026.108842","pdf_url":null,"source":{"id":"https://openalex.org/S183498172","display_name":"Journal of the Franklin Institute","issn_l":"0016-0032","issn":["0016-0032","1879-2693"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Franklin Institute","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6995358467102051}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2123871098","https://openalex.org/W2338687951","https://openalex.org/W2587415290","https://openalex.org/W2761151150","https://openalex.org/W2901820271","https://openalex.org/W2902210411","https://openalex.org/W2950619474","https://openalex.org/W2964336994","https://openalex.org/W2969251324","https://openalex.org/W3010840629","https://openalex.org/W3079592479","https://openalex.org/W3095606244","https://openalex.org/W3108191445","https://openalex.org/W3112239567","https://openalex.org/W3127566536","https://openalex.org/W3139047046","https://openalex.org/W3198919602","https://openalex.org/W4282927556","https://openalex.org/W4313530793","https://openalex.org/W4366609752","https://openalex.org/W4379013693","https://openalex.org/W4381952388","https://openalex.org/W4386702887","https://openalex.org/W4390891827","https://openalex.org/W4400061740","https://openalex.org/W4406852973","https://openalex.org/W4407229767","https://openalex.org/W4412465400"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-06-25T00:00:00"}
