{"id":"https://openalex.org/W2793436161","doi":"https://doi.org/10.1017/s0263574718000164","title":"Clearance-driven motion planning for mobile robots with differential constraints","display_name":"Clearance-driven motion planning for mobile robots with differential constraints","publication_year":2018,"publication_date":"2018-02-27","ids":{"openalex":"https://openalex.org/W2793436161","doi":"https://doi.org/10.1017/s0263574718000164","mag":"2793436161"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574718000164","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718000164","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/A5025726271","display_name":"Evis Plaku","orcid":"https://orcid.org/0009-0002-4042-2673"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Evis Plaku","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:","institution_ids":["https://openalex.org/I84470341"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0002-6622-386X"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evis Plaku","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:","institution_ids":["https://openalex.org/I84470341"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Erion Plaku","orcid":null},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Erion Plaku","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:","institution_ids":["https://openalex.org/I84470341"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Erion Plaku","orcid":null},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erion Plaku","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:","institution_ids":["https://openalex.org/I84470341"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075993095","display_name":"Patricio Simari","orcid":null},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patricio Simari","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, The Catholic University of America, Washington, DC 20064, USA. E-mails:","institution_ids":["https://openalex.org/I84470341"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025726271"],"corresponding_institution_ids":["https://openalex.org/I84470341"],"apc_list":null,"apc_paid":null,"fwci":0.6374,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.73606871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"36","issue":"7","first_page":"971","last_page":"993"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9840999841690063,"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/computer-science","display_name":"Computer science","score":0.6515514850616455},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6285363435745239},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5651883482933044},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5594332218170166},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5449196100234985},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4813714623451233},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4801725447177887},{"id":"https://openalex.org/keywords/tessellation","display_name":"Tessellation (computer graphics)","score":0.45135462284088135},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.44602125883102417},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40039512515068054},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3562964200973511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34157758951187134},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2952960133552551},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.290607750415802},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12528768181800842},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.12160331010818481}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6515514850616455},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6285363435745239},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5651883482933044},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5594332218170166},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5449196100234985},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4813714623451233},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4801725447177887},{"id":"https://openalex.org/C43817857","wikidata":"https://www.wikidata.org/wiki/Q9357547","display_name":"Tessellation (computer graphics)","level":2,"score":0.45135462284088135},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.44602125883102417},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40039512515068054},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3562964200973511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34157758951187134},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2952960133552551},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.290607750415802},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12528768181800842},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.12160331010818481},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574718000164","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718000164","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W22661957","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1550394468","https://openalex.org/W1554174647","https://openalex.org/W1585638810","https://openalex.org/W1624489928","https://openalex.org/W1777480005","https://openalex.org/W1937587174","https://openalex.org/W1974675819","https://openalex.org/W1977276706","https://openalex.org/W1998525082","https://openalex.org/W2000359213","https://openalex.org/W2002548850","https://openalex.org/W2037557484","https://openalex.org/W2042106485","https://openalex.org/W2042613867","https://openalex.org/W2046106152","https://openalex.org/W2056579540","https://openalex.org/W2072884685","https://openalex.org/W2086504823","https://openalex.org/W2088352159","https://openalex.org/W2102587756","https://openalex.org/W2110762409","https://openalex.org/W2126876121","https://openalex.org/W2129412583","https://openalex.org/W2135301926","https://openalex.org/W2144067986","https://openalex.org/W2149906774","https://openalex.org/W2156123119","https://openalex.org/W2163670193","https://openalex.org/W2168430074","https://openalex.org/W2189076595","https://openalex.org/W2232710831","https://openalex.org/W2406290095","https://openalex.org/W2414947275","https://openalex.org/W2419216244","https://openalex.org/W2562817154","https://openalex.org/W2577354006","https://openalex.org/W2611243847","https://openalex.org/W2735610391","https://openalex.org/W2736805170","https://openalex.org/W2738195924","https://openalex.org/W2764311721","https://openalex.org/W2911001378","https://openalex.org/W4231082634","https://openalex.org/W4251391716","https://openalex.org/W6632963374","https://openalex.org/W6683784282","https://openalex.org/W6714034797","https://openalex.org/W6731368647"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2394276631","https://openalex.org/W2118356379"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"an":[4],"approach":[5,64,94,153],"that":[6,45,118,135,205],"integrates":[7],"the":[8,15,34,37,48,53,56,62,89,92,103,108,139,151,161,173,180,195,206,218],"geometric":[9,41],"notion":[10],"of":[11,55,69,150,223,228],"clearance":[12,109,123],"(distance":[13],"to":[14,22,26,111,137,164,186,194,210,217],"closest":[16],"obstacle)":[17],"into":[18],"sampling-based":[19],"motion":[20,50,67,162],"planning":[21],"enable":[23],"a":[24,66,96,99,113,155],"robot":[25,38,207],"safely":[27],"navigate":[28,212],"in":[29,179,184,213],"challenging":[30],"environments.":[31,215],"To":[32,58],"reach":[33],"goal":[35],"destination,":[36],"must":[39],"obey":[40],"and":[42,52,71,106],"differential":[43],"constraints":[44],"arise":[46],"from":[47,82],"underlying":[49],"dynamics":[51,203],"characteristics":[54],"environment.":[57],"produce":[59,132],"safe":[60],"paths,":[61],"proposed":[63,93,152],"expands":[65,160],"tree":[68,163],"collision-free":[70],"dynamically":[72],"feasible":[73],"motions":[74],"while":[75],"maintaining":[76],"locally":[77],"maximal":[78],"clearance.":[79],"In":[80],"distinction":[81],"related":[83],"work,":[84],"rather":[85],"than":[86],"explicitly":[87],"constructing":[88],"medial":[90,140],"axis,":[91],"imposes":[95],"grid":[97],"or":[98,225],"triangular":[100],"tessellation":[101,181],"over":[102,129],"free":[104],"space":[105],"uses":[107],"information":[110],"construct":[112],"weighted":[114],"graph":[115,131],"where":[116],"edges":[117,178],"connect":[119],"regions":[120],"with":[121,201],"low":[122],"have":[124],"high":[125],"cost.":[126],"Minimum-cost":[127],"paths":[128],"this":[130],"high-clearance":[133,168,192],"routes":[134,193],"tend":[136],"follow":[138,166],"axis":[141],"without":[142],"requiring":[143],"its":[144],"explicit":[145],"construction.":[146],"A":[147],"key":[148],"aspect":[149],"is":[154,208],"route-following":[156],"component":[157],"which":[158],"efficiently":[159],"closely":[165],"such":[167],"routes.":[169],"When":[170],"expansion":[171],"along":[172,190],"current":[174],"route":[175],"becomes":[176],"difficult,":[177],"are":[182],"penalized":[183],"order":[185],"promote":[187],"motion-tree":[188],"expansions":[189],"alternative":[191],"goal.":[196],"Experiments":[197],"using":[198],"vehicle":[199],"models":[200],"second-order":[202],"demonstrate":[204],"able":[209],"successfully":[211],"complex":[214],"Comparisons":[216],"state-of-the-art":[219],"show":[220],"computational":[221],"speedups":[222],"one":[224],"more":[226],"orders":[227],"magnitude.":[229]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2025-10-10T00:00:00"}
