{"id":"https://openalex.org/W2602262851","doi":"https://doi.org/10.1017/s026357471500106x","title":"Dual objective motion planning subject to state constraints","display_name":"Dual objective motion planning subject to state constraints","publication_year":2015,"publication_date":"2015-12-14","ids":{"openalex":"https://openalex.org/W2602262851","doi":"https://doi.org/10.1017/s026357471500106x","mag":"2602262851"},"language":"en","primary_location":{"id":"doi:10.1017/s026357471500106x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471500106x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5039658470","display_name":"Nader Sadegh","orcid":"https://orcid.org/0000-0003-1117-6311"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nader Sadegh","raw_affiliation_strings":["The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332\u20130405, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332\u20130405, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5039658470"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26259111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"35","issue":"5","first_page":"1157","last_page":"1175"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.991100013256073,"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/jerk","display_name":"Jerk","score":0.6668121218681335},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6504555344581604},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6414089798927307},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6176252365112305},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5586183667182922},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5552312731742859},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.551983654499054},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5357524156570435},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4931485056877136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46967917680740356},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4468105733394623},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44229984283447266},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43433570861816406},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4243004024028778},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3089408576488495},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29569387435913086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23767510056495667},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12561646103858948}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6668121218681335},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6504555344581604},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6414089798927307},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6176252365112305},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5586183667182922},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5552312731742859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.551983654499054},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5357524156570435},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4931485056877136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46967917680740356},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4468105733394623},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44229984283447266},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43433570861816406},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4243004024028778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3089408576488495},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29569387435913086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23767510056495667},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12561646103858948},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357471500106x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471500106x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1549905066","https://openalex.org/W1574178670","https://openalex.org/W1969483458","https://openalex.org/W1981163847","https://openalex.org/W2003522422","https://openalex.org/W2014428146","https://openalex.org/W2028838947","https://openalex.org/W2044413640","https://openalex.org/W2045155153","https://openalex.org/W2104393884","https://openalex.org/W2110144538","https://openalex.org/W2113256452","https://openalex.org/W2113694644","https://openalex.org/W2117559551","https://openalex.org/W2119567691","https://openalex.org/W2127685175","https://openalex.org/W2152213881","https://openalex.org/W2159555929","https://openalex.org/W2169528473","https://openalex.org/W2218021848","https://openalex.org/W2341171179","https://openalex.org/W2392999217","https://openalex.org/W4253741566","https://openalex.org/W4298023569"],"related_works":["https://openalex.org/W2281433634","https://openalex.org/W2394276631","https://openalex.org/W3216096898","https://openalex.org/W3009037905","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,33,54,111,139],"novel":[5],"motion":[6],"planning":[7],"approach":[8],"inspired":[9],"by":[10,84],"the":[11,45,59,85,98,122,131,158],"Dynamic":[12],"Programming":[13],"(DP)":[14],"applicable":[15],"to":[16,35,65,94,108,149,164],"multi":[17],"degree":[18],"of":[19,48,114,126,130,146,157,166],"freedom":[20,147],"robots":[21],"(mobile":[22],"or":[23,124],"stationary)":[24],"and":[25,77,133,151],"autonomous":[26],"vehicles.":[27],"The":[28,80,104,128,154],"proposed":[29],"discrete\u2013time":[30],"algorithm":[31,86,105],"enables":[32],"robot":[34,142],"reach":[36],"its":[37,117],"destination":[38],"through":[39],"an":[40,167],"arbitrary":[41],"obstacle":[42,99],"field":[43,100],"in":[44,91,97,110],"fewest":[46],"number":[47,113,125],"time":[49,93],"steps":[50,115],"possible":[51],"while":[52,69],"minimizing":[53],"secondary":[55],"objective":[56],"function.":[57,103],"Furthermore,":[58],"resulting":[60],"optimal":[61,68,81],"trajectory":[62],"is":[63,106],"guaranteed":[64],"be":[66,88],"globally":[67],"incorporating":[70],"state":[71],"constraints":[72],"such":[73],"as":[74],"velocity,":[75],"acceleration,":[76],"jerk":[78],"limits.":[79,153],"trajectories":[82],"furnished":[83],"may":[87],"further":[89],"updated":[90],"real":[92],"accommodate":[95],"changes":[96],"and/or":[101],"cost":[102],"proven":[107],"terminate":[109],"finite":[112],"without":[116],"computational":[118,155],"complexity":[119,156],"increasing":[120],"with":[121,143],"type":[123],"obstacles.":[127],"effectiveness":[129],"global":[132],"replanning":[134],"algorithms":[135,160],"are":[136,161],"demonstrated":[137],"on":[138],"planar":[140],"mobile":[141],"three":[144],"degrees":[145],"subject":[148],"velocity":[150],"acceleration":[152],"two":[159],"also":[162],"compared":[163],"that":[165],"A*\u2013type":[168],"search.":[169]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
