{"id":"https://openalex.org/W1973740427","doi":"https://doi.org/10.1109/acc.2010.5531447","title":"Application of a coordinated trajectory planning and real-time obstacle avoidance algorithm","display_name":"Application of a coordinated trajectory planning and real-time obstacle avoidance algorithm","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W1973740427","doi":"https://doi.org/10.1109/acc.2010.5531447","mag":"1973740427"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5531447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-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/A5056111425","display_name":"Lucas C. McNinch","orcid":null},"institutions":[{"id":"https://openalex.org/I7863295","display_name":"Villanova University","ror":"https://ror.org/02g7kd627","country_code":"US","type":"education","lineage":["https://openalex.org/I7863295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lucas C McNinch","raw_affiliation_strings":["Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","institution_ids":["https://openalex.org/I7863295"]},{"raw_affiliation_string":"Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA","institution_ids":["https://openalex.org/I7863295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007491864","display_name":"Reza A. Soltan","orcid":null},"institutions":[{"id":"https://openalex.org/I7863295","display_name":"Villanova University","ror":"https://ror.org/02g7kd627","country_code":"US","type":"education","lineage":["https://openalex.org/I7863295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reza A Soltan","raw_affiliation_strings":["Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","institution_ids":["https://openalex.org/I7863295"]},{"raw_affiliation_string":"Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA","institution_ids":["https://openalex.org/I7863295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000435923","display_name":"Kenneth R. Muske","orcid":null},"institutions":[{"id":"https://openalex.org/I7863295","display_name":"Villanova University","ror":"https://ror.org/02g7kd627","country_code":"US","type":"education","lineage":["https://openalex.org/I7863295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenneth R Muske","raw_affiliation_strings":["Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","institution_ids":["https://openalex.org/I7863295"]},{"raw_affiliation_string":"Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA","institution_ids":["https://openalex.org/I7863295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034758049","display_name":"Hashem Ashrafiuon","orcid":"https://orcid.org/0000-0001-5067-9064"},"institutions":[{"id":"https://openalex.org/I7863295","display_name":"Villanova University","ror":"https://ror.org/02g7kd627","country_code":"US","type":"education","lineage":["https://openalex.org/I7863295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hashem Ashrafiuon","raw_affiliation_strings":["Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","institution_ids":["https://openalex.org/I7863295"]},{"raw_affiliation_string":"Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA","institution_ids":["https://openalex.org/I7863295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109070491","display_name":"James C. Peyton Jones","orcid":null},"institutions":[{"id":"https://openalex.org/I7863295","display_name":"Villanova University","ror":"https://ror.org/02g7kd627","country_code":"US","type":"education","lineage":["https://openalex.org/I7863295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James C Peyton Jones","raw_affiliation_strings":["Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Nonlinear Dynamics and Control, Villanova University, Villanova, PA, USA","institution_ids":["https://openalex.org/I7863295"]},{"raw_affiliation_string":"Center for Nonlinear Dynamics and Control, Villanova University, PA 19085, USA","institution_ids":["https://openalex.org/I7863295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.0643098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3824","last_page":"3829"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8651636838912964},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7183945178985596},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6890676021575928},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6531251668930054},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.598828911781311},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5789427161216736},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5621492862701416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5564977526664734},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.543258011341095},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4907187223434448},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.4290620684623718},{"id":"https://openalex.org/keywords/ode","display_name":"Ode","score":0.41369181871414185},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3432080149650574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31178057193756104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2592858672142029},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.20513847470283508},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19842249155044556},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18049710988998413},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1726067066192627},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08861896395683289},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08266571164131165},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07169166207313538}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8651636838912964},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7183945178985596},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6890676021575928},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6531251668930054},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.598828911781311},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5789427161216736},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5621492862701416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5564977526664734},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.543258011341095},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4907187223434448},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.4290620684623718},{"id":"https://openalex.org/C34862557","wikidata":"https://www.wikidata.org/wiki/Q178985","display_name":"Ode","level":2,"score":0.41369181871414185},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3432080149650574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31178057193756104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2592858672142029},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.20513847470283508},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19842249155044556},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18049710988998413},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1726067066192627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08861896395683289},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08266571164131165},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07169166207313538},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2010.5531447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309619","display_name":"Villanova University","ror":"https://ror.org/02g7kd627"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1596895962","https://openalex.org/W2021075320","https://openalex.org/W2025421018","https://openalex.org/W2028044548","https://openalex.org/W2050086884","https://openalex.org/W2075382431","https://openalex.org/W2088363200","https://openalex.org/W2100079046","https://openalex.org/W2133066324","https://openalex.org/W2165852972"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"A":[0],"novel":[1],"method":[2],"for":[3],"coordinated":[4],"trajectory":[5,108,129],"planning":[6],"and":[7,140],"real-time":[8],"obstacle":[9,84,99,115,141],"avoidance":[10,85,142],"of":[11,26,35,61],"autonomous":[12,18],"systems":[13],"is":[14,55,86,136],"presented.":[15],"The":[16,30,138],"desired":[17,41,80],"system":[19,34],"trajectories":[20],"are":[21,68,144],"generated":[22,70],"from":[23,71],"a":[24,40,45,50,90,119,127],"set":[25],"first":[27],"order":[28],"ODEs.":[29],"solution":[31],"to":[32,38,78,122,132],"this":[33],"ODEs":[36],"converges":[37],"either":[39],"target":[42,125],"position":[43],"or":[44],"closed":[46,81,94],"orbit":[47,95,104],"defined":[48],"by":[49,57,88],"limit":[51,62],"cycle.":[52],"Coordinated":[53],"control":[54],"achieved":[56,87],"utilizing":[58],"the":[59,79,97,101,111,114,123,133],"nature":[60],"cycles":[63],"where":[64],"independent,":[65],"non-crossing":[66],"paths":[67],"automatically":[69],"different":[72],"initial":[73],"positions":[74],"that":[75,109,130],"smoothly":[76],"converge":[77],"orbits.":[82],"Real-time":[83],"specifying":[89],"transitional":[91,128],"elliptically":[92],"shaped":[93],"around":[96],"nearest":[98],"blocking":[100],"path.":[102],"This":[103],"determines":[105],"an":[106],"alternate":[107],"avoids":[110],"obstacle.":[112],"When":[113],"no":[116],"longer":[117],"blocks":[118],"direct":[120],"path":[121,135],"original":[124,134],"trajectory,":[126],"returns":[131],"defined.":[137],"coordination":[139],"methods":[143],"demonstrated":[145],"experimentally":[146],"using":[147],"differential-drive":[148],"wheeled":[149],"mobile":[150],"robots.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}