{"id":"https://openalex.org/W3006012323","doi":"https://doi.org/10.1017/s0263574719001905","title":"Robust Motion Planning in Dynamic Environments Based on Sampled-Data Hamilton\u2013Jacobi Reachability","display_name":"Robust Motion Planning in Dynamic Environments Based on Sampled-Data Hamilton\u2013Jacobi Reachability","publication_year":2020,"publication_date":"2020-02-14","ids":{"openalex":"https://openalex.org/W3006012323","doi":"https://doi.org/10.1017/s0263574719001905","mag":"3006012323"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001905","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001905","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/A5059986525","display_name":"S\u00e9bastien Kleff","orcid":"https://orcid.org/0000-0002-9025-6143"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"S\u00e9bastien Kleff","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China. E-mail:","Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China"],"raw_orcid":"https://orcid.org/0000-0002-9025-6143","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China. E-mail:","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100691181","display_name":"Ning Li","orcid":"https://orcid.org/0000-0003-1025-9641"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ning Li","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China. E-mail:","Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China. E-mail:","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100691181"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.5951,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65728027,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"38","issue":"12","first_page":"2151","last_page":"2172"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9954000115394592,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9954000115394592,"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/T12158","display_name":"Guidance and Control Systems","score":0.9915000200271606,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9904000163078308,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.90956050157547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.74095618724823},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6456190943717957},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6246083974838257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5220631957054138},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5169588923454285},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44832485914230347},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4133289158344269},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31854790449142456},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.21013087034225464},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14842036366462708}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.90956050157547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.74095618724823},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6456190943717957},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6246083974838257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5220631957054138},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5169588923454285},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44832485914230347},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4133289158344269},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31854790449142456},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.21013087034225464},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14842036366462708},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719001905","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001905","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W168874853","https://openalex.org/W309991539","https://openalex.org/W315739085","https://openalex.org/W1574960890","https://openalex.org/W1581842928","https://openalex.org/W1974854353","https://openalex.org/W1975236902","https://openalex.org/W1979530345","https://openalex.org/W1993827762","https://openalex.org/W2025629731","https://openalex.org/W2027664020","https://openalex.org/W2028678875","https://openalex.org/W2034469604","https://openalex.org/W2042835403","https://openalex.org/W2047549180","https://openalex.org/W2053572490","https://openalex.org/W2063621745","https://openalex.org/W2075718555","https://openalex.org/W2085744412","https://openalex.org/W2102158516","https://openalex.org/W2106816694","https://openalex.org/W2116364955","https://openalex.org/W2149270119","https://openalex.org/W2158048639","https://openalex.org/W2184894967","https://openalex.org/W2276913956","https://openalex.org/W2288883172","https://openalex.org/W2296360731","https://openalex.org/W2324093717","https://openalex.org/W2396488597","https://openalex.org/W2409929168","https://openalex.org/W2580211036","https://openalex.org/W2583891003","https://openalex.org/W2605995510","https://openalex.org/W2610069030","https://openalex.org/W2760003929","https://openalex.org/W2771197443","https://openalex.org/W2775220081","https://openalex.org/W2799935950","https://openalex.org/W2863620258","https://openalex.org/W2891520517","https://openalex.org/W2962822210","https://openalex.org/W2963606896","https://openalex.org/W2964040381","https://openalex.org/W4211147054","https://openalex.org/W4237036536"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2136512912","https://openalex.org/W2127267268","https://openalex.org/W2156446763","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2150194458","https://openalex.org/W2109948066"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1,48],"propose":[2],"a":[3,146,159,162],"novel":[4],"formal":[5,27],"approach":[6,34,138,178],"to":[7,25,61,92,123,150],"robust":[8,28,80],"motion":[9,65],"planning":[10],"(MP)":[11],"in":[12,40,59,121,161],"dynamic":[13],"environments":[14,44],"based":[15],"on":[16,52],"reachability":[17,55,90],"analysis.":[18],"While":[19],"traditional":[20],"MP":[21],"methods":[22],"usually":[23],"fail":[24],"provide":[26],"safety":[29,132],"and":[30,42,56,82,109,179],"performance":[31,175],"guarantees,":[32],"our":[33,94],"provably":[35,79],"ensures":[36],"safe":[37],"task":[38],"achievement":[39],"time-varying":[41,98,164],"adversarial":[43,100],"under":[45],"parametric":[46],"uncertainty.":[47],"leverage":[49],"recent":[50],"results":[51],"Hamilton\u2013Jacobi":[53],"(HJ)":[54],"differential":[57],"games":[58],"order":[60,122],"compute":[62],"offline":[63],"guaranteed":[64],"plans":[66],"that":[67],"are":[68,182],"compatible":[69],"with":[70,156],"the":[71,113,126,142,174,177],"sampled-data":[72],"(SD)":[73],"paradigm.":[74],"Also,":[75],"we":[76,117],"synthesize":[77],"online":[78],"safety-preserving":[81],"target-reaching":[83],"feedback":[84],"controls.":[85],"Unlike":[86],"earlier":[87],"applications":[88],"of":[89,136,145,176],"analysis":[91],"MP,":[93],"methodology":[95],"handles":[96],"arbitrary":[97],"constraints,":[99],"agents":[101],"such":[102],"as":[103],"pursuing":[104],"obstacles":[105],"or":[106],"evading":[107],"targets,":[108],"takes":[110],"into":[111],"account":[112],"robot\u2019s":[114],"configuration.":[115],"Furthermore,":[116],"use":[118],"HJ":[119],"projections":[120],"reduce":[124],"significantly":[125],"computational":[127],"burden":[128],"without":[129],"trading":[130],"off":[131],"guarantees.":[133],"The":[134],"validity":[135],"this":[137],"is":[139,154],"demonstrated":[140],"through":[141],"case":[143],"study":[144],"robot":[147],"arm":[148],"subject":[149],"measurement":[151],"errors,":[152],"which":[153],"tasked":[155],"safely":[157],"reaching":[158],"goal":[160],"known":[163],"workspace":[165],"while":[166],"avoiding":[167],"capture":[168],"by":[169],"an":[170],"unpredictable":[171],"pursuer.":[172],"Finally,":[173],"research":[180],"perspectives":[181],"discussed.":[183]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}