{"id":"https://openalex.org/W3158234969","doi":"https://doi.org/10.1109/ccta48906.2021.9658663","title":"Efficient Formulation of Collision Avoidance Constraints in optimization Based Trajectory Planning and Control","display_name":"Efficient Formulation of Collision Avoidance Constraints in optimization Based Trajectory Planning and Control","publication_year":2021,"publication_date":"2021-08-09","ids":{"openalex":"https://openalex.org/W3158234969","doi":"https://doi.org/10.1109/ccta48906.2021.9658663","mag":"3158234969"},"language":"en","primary_location":{"id":"doi:10.1109/ccta48906.2021.9658663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta48906.2021.9658663","pdf_url":null,"source":{"id":"https://openalex.org/S4363608183","display_name":"2021 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.12641","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031012527","display_name":"Max Lutz","orcid":"https://orcid.org/0009-0001-1956-3757"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Max Lutz","raw_affiliation_strings":["Chair of Automatic Control, Faculty of Engineering, Kiel University, Kiel, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control, Faculty of Engineering, Kiel University, Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002069913","display_name":"Thomas Meurer","orcid":"https://orcid.org/0000-0002-9175-2157"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Meurer","raw_affiliation_strings":["Chair of Automatic Control, Faculty of Engineering, Kiel University, Kiel, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control, Faculty of Engineering, Kiel University, Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031012527"],"corresponding_institution_ids":["https://openalex.org/I32021983"],"apc_list":null,"apc_paid":null,"fwci":0.1314,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44508091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"228","last_page":"233"},"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9678000211715698,"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/collision-avoidance","display_name":"Collision avoidance","score":0.7518830299377441},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6765735745429993},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6536104679107666},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6499837636947632},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6286861896514893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6044292449951172},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5544829368591309},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.527262806892395},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.5092428922653198},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4776129424571991},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.462985634803772},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.45042240619659424},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41966375708580017},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3978002071380615},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.35418784618377686},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2530565857887268},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12761661410331726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0993206799030304}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7518830299377441},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6765735745429993},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6536104679107666},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6499837636947632},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6286861896514893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6044292449951172},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5544829368591309},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.527262806892395},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.5092428922653198},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4776129424571991},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.462985634803772},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.45042240619659424},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41966375708580017},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3978002071380615},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.35418784618377686},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2530565857887268},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12761661410331726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0993206799030304},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ccta48906.2021.9658663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta48906.2021.9658663","pdf_url":null,"source":{"id":"https://openalex.org/S4363608183","display_name":"2021 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.12641","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.12641","pdf_url":"https://arxiv.org/pdf/2104.12641","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3158234969","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2104.12641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2104.12641","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.12641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.12641","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.12641","pdf_url":"https://arxiv.org/pdf/2104.12641","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3158234969.pdf","grobid_xml":"https://content.openalex.org/works/W3158234969.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W599341852","https://openalex.org/W1618175281","https://openalex.org/W1970101292","https://openalex.org/W2039389278","https://openalex.org/W2060079956","https://openalex.org/W2064942388","https://openalex.org/W2065297540","https://openalex.org/W2095546818","https://openalex.org/W2103120971","https://openalex.org/W2108142674","https://openalex.org/W2122717665","https://openalex.org/W2129486961","https://openalex.org/W2131286638","https://openalex.org/W2142224528","https://openalex.org/W2154396405","https://openalex.org/W2166316739","https://openalex.org/W2177274602","https://openalex.org/W2735167925","https://openalex.org/W2896441520","https://openalex.org/W2963876584","https://openalex.org/W3015470607","https://openalex.org/W3152787885","https://openalex.org/W3185626836","https://openalex.org/W6745764106"],"related_works":["https://openalex.org/W3001359952","https://openalex.org/W3096721080","https://openalex.org/W2564368211","https://openalex.org/W2510498560","https://openalex.org/W1605254797","https://openalex.org/W3135798748","https://openalex.org/W2890827132","https://openalex.org/W2904904203","https://openalex.org/W2790745335","https://openalex.org/W320817277","https://openalex.org/W2000182702","https://openalex.org/W6680881","https://openalex.org/W3205295347","https://openalex.org/W2312892126","https://openalex.org/W2505264304","https://openalex.org/W2069688623","https://openalex.org/W2313487114","https://openalex.org/W3181376804","https://openalex.org/W3004785596","https://openalex.org/W2790318054"],"abstract_inverted_index":{"To":[0,109],"be":[1,15,48],"applicable":[2],"to":[3,17,42,65,75,97,103,116],"real":[4],"world":[5],"scenarios":[6],"trajectory":[7,33,163],"planning":[8,34,164],"schemes":[9],"for":[10,85,111,165],"mobile":[11],"autonomous":[12],"systems":[13],"must":[14],"able":[16],"efficiently":[18],"deal":[19],"with":[20],"obstacles":[21,90,118],"in":[22,50,95,188],"the":[23,28,51,98,105,120,127,131,154,158,178,184],"area":[24],"of":[25,30,39,80,89,144,157],"operation.":[26],"In":[27],"context":[29],"optimization":[31],"based":[32,148,182],"and":[35,91,94,124,140],"control":[36],"a":[37,56,76,86,112,138,145,171],"number":[38,79,88],"different":[40],"approaches":[41],"formulate":[43],"collision":[44,67],"avoidance":[45,68],"constraints":[46,83],"can":[47],"found":[49],"literature.":[52],"This":[53],"work":[54],"presents":[55],"novel":[57],"formulation":[58,101],"building":[59],"on":[60,183],"constructive":[61],"solid":[62],"geometry":[63],"(CSG)":[64],"describe":[66],"constraints.":[69],"It":[70],"is":[71,175,180],"highly":[72],"efficient":[73],"due":[74],"very":[77],"low":[78],"nonlinear":[81,172],"inequality":[82],"required":[84],"given":[87],"sample":[92],"points":[93],"contrast":[96],"original":[99,132],"CSG":[100,133],"allows":[102],"consider":[104],"controlled":[106],"system\u2019s":[107],"shape.":[108],"allow":[110],"comparison,":[113],"popular":[114],"methods":[115],"represent":[117],"from":[119],"literature":[121],"are":[122],"summarized":[123],"characterized,":[125],"namely":[126],"simple":[128],"ellipsoidal":[129],"representation,":[130],"method":[134],"as":[135,137,170],"well":[136],"direct":[139],"an":[141],"indirect":[142],"implementation":[143],"signed":[146],"distance":[147],"approach.":[149],"A":[150],"benchmark":[151],"example":[152],"shows":[153],"good":[155],"performance":[156],"proposed":[159],"formulation.":[160],"Here,":[161],"optimal":[162],"marine":[166],"surface":[167],"vessels":[168],"formulated":[169],"programming":[173],"problem":[174],"used,":[176],"where":[177],"scenario":[179],"designed":[181],"maritime":[185],"test":[186],"field":[187],"Kiel,":[189],"Germany.":[190]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}