{"id":"https://openalex.org/W2156759343","doi":"https://doi.org/10.1017/s0263574798000174","title":"Path constrained time-optimal trajectory planning for X-Y robots via an efficient dynamic programming method","display_name":"Path constrained time-optimal trajectory planning for X-Y robots via an efficient dynamic programming method","publication_year":1998,"publication_date":"1998-01-01","ids":{"openalex":"https://openalex.org/W2156759343","doi":"https://doi.org/10.1017/s0263574798000174","mag":"2156759343"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574798000174","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574798000174","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/A5110261658","display_name":"Chen\u2010Wen V. Yen","orcid":null},"institutions":[{"id":"https://openalex.org/I142974352","display_name":"National Sun Yat-sen University","ror":"https://ror.org/00mjawt10","country_code":"TW","type":"education","lineage":["https://openalex.org/I142974352"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chen-Wen V. Yen","raw_affiliation_strings":["Department of Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China","institution_ids":["https://openalex.org/I142974352"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018300845","display_name":"Tsong\u2010Zen Liu","orcid":"https://orcid.org/0000-0003-1392-3341"},"institutions":[{"id":"https://openalex.org/I142974352","display_name":"National Sun Yat-sen University","ror":"https://ror.org/00mjawt10","country_code":"TW","type":"education","lineage":["https://openalex.org/I142974352"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tsong-Zen Liu","raw_affiliation_strings":["Department of Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China","institution_ids":["https://openalex.org/I142974352"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I142974352"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.23668304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":"1","first_page":"89","last_page":"96"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9850999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.7887551784515381},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6494296789169312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6250202059745789},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5955231189727783},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5751699805259705},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.566236138343811},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5312941670417786},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5252693891525269},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4923664331436157},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4906128942966461},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.44868576526641846},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21860632300376892},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1668902039527893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14205431938171387}],"concepts":[{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.7887551784515381},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6494296789169312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6250202059745789},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5955231189727783},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5751699805259705},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.566236138343811},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5312941670417786},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5252693891525269},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4923664331436157},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4906128942966461},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.44868576526641846},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21860632300376892},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1668902039527893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14205431938171387},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574798000174","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574798000174","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":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1972394793","https://openalex.org/W1973700210","https://openalex.org/W1978413780","https://openalex.org/W2001602022","https://openalex.org/W2003469320","https://openalex.org/W2026742600","https://openalex.org/W2044644567","https://openalex.org/W2045057073","https://openalex.org/W2073898625","https://openalex.org/W2079465904","https://openalex.org/W2087149139","https://openalex.org/W2090179465","https://openalex.org/W2091197916","https://openalex.org/W2115091574","https://openalex.org/W2133358493","https://openalex.org/W2142981033","https://openalex.org/W2146494230","https://openalex.org/W2153413894","https://openalex.org/W2155612543","https://openalex.org/W2341171179","https://openalex.org/W2975660477"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W1932159282","https://openalex.org/W4285537323","https://openalex.org/W2378339670","https://openalex.org/W2379312070","https://openalex.org/W2359353485"],"abstract_inverted_index":{"By":[0],"exploiting":[1],"an":[2],"important":[3],"property":[4],"of":[5,47],"the":[6,30,35,40,48,69],"time":[7,24],"optimal":[8],"control":[9,71],"law":[10],"structure,":[11],"this":[12,61],"paper":[13,62],"introduces":[14],"a":[15],"new":[16],"dynamic":[17,32],"programming":[18,33],"approach":[19,37,50],"for":[20],"X-Y":[21],"robot":[22],"minimum":[23],"path":[25],"following":[26],"problem.":[27],"Compared":[28],"with":[29],"conventional":[31],"method,":[34],"proposed":[36,49],"significantly":[38],"reduces":[39],"computational":[41],"cost.":[42],"The":[43],"efficiency":[44],"and":[45],"effectiveness":[46],"are":[51],"demonstrated":[52],"via":[53,58],"computer":[54],"simulations.":[55],"In":[56],"addition,":[57],"experimental":[59],"studies,":[60],"also":[63],"addresses":[64],"practical":[65],"difficulties":[66],"in":[67],"implementing":[68],"minimum-time":[70],"law.":[72]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}