{"id":"https://openalex.org/W2290982884","doi":"https://doi.org/10.1109/cdc.2015.7402635","title":"A combined planning and control strategy for mobile robots navigation in populated environments","display_name":"A combined planning and control strategy for mobile robots navigation in populated environments","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2290982884","doi":"https://doi.org/10.1109/cdc.2015.7402635","mag":"2290982884"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5047528112","display_name":"Michele Furci","orcid":"https://orcid.org/0000-0001-6187-0606"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Furci","raw_affiliation_strings":["CASY-DEI, Universit\u00e0 di Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEI, Universit\u00e0 di Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009853783","display_name":"Roberto Naldi","orcid":"https://orcid.org/0000-0003-2440-6286"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"R. Naldi","raw_affiliation_strings":["CASY-DEI, Universit\u00e0 di Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEI, Universit\u00e0 di Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Karaman","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101646071","display_name":"Lorenzo Marconi","orcid":"https://orcid.org/0000-0001-5519-5448"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Marconi","raw_affiliation_strings":["CASY-DEI, Universit\u00e0 di Bologna"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEI, Universit\u00e0 di Bologna","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2767","last_page":"2772"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9973000288009644,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"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/mobile-robot","display_name":"Mobile robot","score":0.714823842048645},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6942157745361328},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6666960120201111},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6622836589813232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6540529727935791},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6421916484832764},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5584205985069275},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5561032295227051},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5029610991477966},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4846530556678772},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4543752372264862},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.44041284918785095},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4347636103630066},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4342888593673706},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39425837993621826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36087939143180847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3559185266494751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21762901544570923},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20216232538223267}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.714823842048645},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6942157745361328},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6666960120201111},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6622836589813232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6540529727935791},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6421916484832764},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5584205985069275},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5561032295227051},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5029610991477966},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4846530556678772},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4543752372264862},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.44041284918785095},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4347636103630066},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4342888593673706},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39425837993621826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36087939143180847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3559185266494751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21762901544570923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20216232538223267},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2015.7402635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W172073762","https://openalex.org/W1487112583","https://openalex.org/W1971086298","https://openalex.org/W2000366535","https://openalex.org/W2003457195","https://openalex.org/W2015880522","https://openalex.org/W2077091230","https://openalex.org/W2095275732","https://openalex.org/W2103209505","https://openalex.org/W2113029345","https://openalex.org/W2113778071","https://openalex.org/W2128990851","https://openalex.org/W2134078068","https://openalex.org/W2134741043","https://openalex.org/W2146577982","https://openalex.org/W2153219011","https://openalex.org/W2156969101","https://openalex.org/W2189076595","https://openalex.org/W4205940976","https://openalex.org/W6605295560","https://openalex.org/W6669904750","https://openalex.org/W6679000354"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W266222987","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"In":[0,27,112],"this":[1],"work":[2],"we":[3],"present":[4],"a":[5,36,44,97,101],"combined":[6],"planning":[7],"and":[8,87,99],"control":[9],"strategy":[10],"to":[11,29,49,119],"let":[12,120],"agile":[13],"autonomous":[14],"robots":[15],"navigating":[16],"in":[17,60,105],"real-world":[18],"populated":[19],"environments":[20],"by":[21,73],"means":[22],"of":[23,34,55,63,96,100],"range":[24],"limited":[25],"sensors.":[26],"order":[28],"reduce":[30],"the":[31,39,56,61,77,80,83,88,94,114,121,125],"computational":[32],"cost":[33],"obtaining":[35],"dynamically-feasible":[37],"path,":[38],"proposed":[40,115],"solution":[41],"relies":[42],"on":[43],"simple":[45],"way-points":[46],"generation":[47],"subject":[48],"geometrical":[50],"constraints.":[51],"Conditions":[52],"ensuring":[53],"feasibility":[54],"obtained":[57],"trajectories":[58],"also":[59],"presence":[62],"possible":[64,127],"exogenous":[65],"disturbances":[66],"such":[67],"as":[68],"wind":[69],"are":[70],"then":[71],"derived":[72],"taking":[74],"into":[75],"account":[76],"interconnection":[78],"between":[79],"vehicle":[81,122],"dynamics,":[82],"low-level":[84],"stabilizing":[85],"controller":[86],"trajectory":[89],"planner.":[90],"As":[91],"an":[92,106],"application,":[93],"navigation":[95],"quadrotor":[98],"differential":[102],"wheel":[103],"robot":[104],"unknown":[107],"forest":[108],"environment":[109],"is":[110,117],"proposed.":[111],"particular,":[113],"framework":[116],"employed":[118],"moving":[123],"at":[124],"highest":[126],"speed":[128],"that":[129],"guarantees":[130],"no":[131],"collision":[132],"with":[133],"obstacles.":[134]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}