{"id":"https://openalex.org/W2162441454","doi":"https://doi.org/10.1109/cdc.2010.5717426","title":"Motion planning for formations of Dubins vehicles","display_name":"Motion planning for formations of Dubins vehicles","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2162441454","doi":"https://doi.org/10.1109/cdc.2010.5717426","mag":"2162441454"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2010.5717426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3430214","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101446999","display_name":"Huifang Wang","orcid":"https://orcid.org/0000-0002-4060-8649"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Huifang Wang","raw_affiliation_strings":["Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003804011","display_name":"Lucia Pallottino","orcid":"https://orcid.org/0000-0002-9480-8857"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucia Pallottino","raw_affiliation_strings":["Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center Enrico Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101446999"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":0.6374,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.73107001,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2263","last_page":"2269"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9904999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7639081478118896},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.7178045511245728},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6188316941261292},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6157647371292114},{"id":"https://openalex.org/keywords/ring","display_name":"Ring (chemistry)","score":0.5999391078948975},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.5407564043998718},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4247889816761017},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3914702534675598},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39101165533065796},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36641791462898254},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3611867427825928},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3182535767555237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2160269021987915},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18687835335731506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15823012590408325}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7639081478118896},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7178045511245728},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6188316941261292},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6157647371292114},{"id":"https://openalex.org/C2780378348","wikidata":"https://www.wikidata.org/wiki/Q25351438","display_name":"Ring (chemistry)","level":2,"score":0.5999391078948975},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.5407564043998718},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4247889816761017},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3914702534675598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39101165533065796},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36641791462898254},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3611867427825928},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3182535767555237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2160269021987915},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18687835335731506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15823012590408325},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2010.5717426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5717426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/194272","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5717426","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3430214","is_oa":true,"landing_page_url":"https://zenodo.org/record/3430214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3430214","is_oa":true,"landing_page_url":"https://zenodo.org/record/3430214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W1484721599","https://openalex.org/W1517023801","https://openalex.org/W2018284512","https://openalex.org/W2039472412","https://openalex.org/W2044526330","https://openalex.org/W2099397914","https://openalex.org/W2119120935","https://openalex.org/W2124918567","https://openalex.org/W2131310337","https://openalex.org/W2140785839","https://openalex.org/W2144954802","https://openalex.org/W2146890818","https://openalex.org/W2147928602","https://openalex.org/W2165413656","https://openalex.org/W2165750802","https://openalex.org/W2313274380","https://openalex.org/W6654872976","https://openalex.org/W6681553200"],"related_works":["https://openalex.org/W2487162673","https://openalex.org/W2942366970","https://openalex.org/W2793211469","https://openalex.org/W2949152769","https://openalex.org/W4372354731","https://openalex.org/W2562400057","https://openalex.org/W1692008701","https://openalex.org/W2597588799","https://openalex.org/W4360593462","https://openalex.org/W2194570607"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,60,96],"motion":[4,87,115],"planning":[5,64,88],"problem":[6],"for":[7],"formations":[8,25,71,74,107],"of":[9,99,103,105,110,114],"n":[10],"identical":[11],"Dubins":[12],"vehicles":[13,94],"maintaining":[14],"constant":[15,36],"distances.":[16],"We":[17],"discuss":[18],"three":[19],"basic":[20],"formations:":[21],"star":[22,70],"formations,":[23,28,85],"chain":[24,73],"and":[26,72],"ring":[27,84,106],"from":[29],"which":[30],"any":[31,76],"formation":[32],"based":[33],"on":[34,59],"pairwise":[35],"distance":[37],"can":[38],"be":[39],"obtained.":[40],"The":[41],"challenge":[42],"is":[43,90],"to":[44,68],"control":[45],"such":[46],"high-dimensional":[47],"affine":[48],"systems":[49],"with":[50],"drift":[51],"through":[52],"1-dimensional":[53],"controls":[54],"whose":[55],"admissible":[56],"ranges":[57],"depend":[58],"configuration":[61],"variables.":[62],"Motion":[63],"algorithms":[65],"are":[66,116],"designed":[67],"drive":[69],"between":[75],"two":[77],"configurations":[78],"in":[79,108],"their":[80],"reachable":[81],"sets.":[82],"For":[83],"a":[86],"algorithm":[89],"proposed":[91],"when":[92],"all":[93],"have":[95],"equal":[97,112],"direction":[98],"motion.":[100],"Finally,":[101],"examples":[102],"trajectories":[104],"case":[109],"non":[111],"directions":[113],"presented.":[117]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}