{"id":"https://openalex.org/W2127588643","doi":"https://doi.org/10.1109/cca.2009.5280697","title":"A new method for Direct and point-to-point robot trajectory planning in narrow spaces","display_name":"A new method for Direct and point-to-point robot trajectory planning in narrow spaces","publication_year":2009,"publication_date":"2009-07-01","ids":{"openalex":"https://openalex.org/W2127588643","doi":"https://doi.org/10.1109/cca.2009.5280697","mag":"2127588643"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2009.5280697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) &amp; Intelligent Control, (ISIC)","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/A5108572101","display_name":"Amr Kandil","orcid":null},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Amr A. Kandil","raw_affiliation_strings":["Automation Laboratory of the University of Heidelberg, B6, 26, 68131 Mannheim, Germany"],"affiliations":[{"raw_affiliation_string":"Automation Laboratory of the University of Heidelberg, B6, 26, 68131 Mannheim, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110264921","display_name":"Essam Badreddin","orcid":null},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Essam Badreddin","raw_affiliation_strings":["Automation Laboratory of the University of Heidelberg, B6, 26, 68131 Mannheim, Germany"],"affiliations":[{"raw_affiliation_string":"Automation Laboratory of the University of Heidelberg, B6, 26, 68131 Mannheim, Germany","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5108572101"],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16343035,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1738","last_page":"1743"},"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":0.9987999796867371,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8322951197624207},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7230209708213806},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7188392281532288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7169069647789001},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6767396330833435},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6701592206954956},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6592440605163574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6047465801239014},{"id":"https://openalex.org/keywords/point-to-point","display_name":"Point-to-point","score":0.5207728743553162},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5125393867492676},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.49822139739990234},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4064273238182068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.298827588558197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.234779953956604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1065782904624939},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06178629398345947},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06153839826583862}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8322951197624207},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7230209708213806},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7188392281532288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7169069647789001},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6767396330833435},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6701592206954956},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6592440605163574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6047465801239014},{"id":"https://openalex.org/C174440990","wikidata":"https://www.wikidata.org/wiki/Q681349","display_name":"Point-to-point","level":2,"score":0.5207728743553162},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5125393867492676},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.49822139739990234},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4064273238182068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.298827588558197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.234779953956604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1065782904624939},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06178629398345947},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06153839826583862},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2009.5280697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) &amp; Intelligent Control, (ISIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W283036238","https://openalex.org/W623467019","https://openalex.org/W1547397412","https://openalex.org/W1575037797","https://openalex.org/W1587799944","https://openalex.org/W1825036577","https://openalex.org/W1970101292","https://openalex.org/W1985448264","https://openalex.org/W1987174424","https://openalex.org/W1991554046","https://openalex.org/W2001981441","https://openalex.org/W2009966077","https://openalex.org/W2062264317","https://openalex.org/W2062691475","https://openalex.org/W2162218551","https://openalex.org/W2166687605","https://openalex.org/W2334591577","https://openalex.org/W2404308108","https://openalex.org/W2505307725","https://openalex.org/W2798500587","https://openalex.org/W2918149778","https://openalex.org/W3174974282","https://openalex.org/W4236400251","https://openalex.org/W4317926644"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"In":[0],"this":[1,92],"paper":[2],"a":[3,28,73],"novel":[4],"method":[5,64,99],"for":[6,47],"planning":[7],"point-to-point":[8],"robot":[9],"trajectories":[10],"will":[11,94,103],"be":[12,39,60,88,95,104],"introduced.":[13],"With":[14],"the":[15,18,25,33,55,68,77],"new":[16,63,98],"method,":[17],"requirement":[19],"of":[20,27,35,76,100,108],"an":[21],"optimal":[22],"path":[23],"and":[24,54,111],"need":[26],"slim":[29,43],"motion":[30,44,71,86,102],"due":[31],"to":[32,59],"lack":[34],"free":[36],"space":[37],"can":[38,87],"compromised.":[40],"The":[41,81,97],"generated":[42],"is":[45,57,65],"suitable":[46],"applications":[48],"where":[49],"human-robot":[50],"cooperation":[51],"takes":[52],"place":[53],"workspace":[56],"considered":[58],"constrained.":[61],"This":[62],"based":[66],"on":[67],"synchronized":[69,101],"links":[70],"with":[72,113],"constant":[74],"ratio":[75],"link":[78],"angle":[79],"positions.":[80],"proof":[82],"that":[83],"any":[84],"PTP":[85],"carried":[89],"out":[90],"under":[91],"constraint":[93],"provided.":[96],"illustrated":[105],"at":[106],"hand":[107],"some":[109],"examples":[110],"compared":[112],"conventional":[114],"methods.":[115]},"counts_by_year":[],"updated_date":"2026-03-21T06:30:42.041108","created_date":"2025-10-10T00:00:00"}
