{"id":"https://openalex.org/W4315472352","doi":"https://doi.org/10.1109/cdc51059.2022.9992594","title":"Motion Planning for Nonlinear Robotic System based on ADMM and Convex Feasible Set Algorithm","display_name":"Motion Planning for Nonlinear Robotic System based on ADMM and Convex Feasible Set Algorithm","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315472352","doi":"https://doi.org/10.1109/cdc51059.2022.9992594"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992594","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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":"2022 IEEE 61st Conference on Decision and Control (CDC)","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/A5072876196","display_name":"Ruishuang Chen","orcid":"https://orcid.org/0000-0002-2961-5899"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruishuang Chen","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047044643","display_name":"Zaiyue Yang","orcid":"https://orcid.org/0000-0002-8288-3833"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaiyue Yang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101523656","display_name":"Jie Cheng","orcid":"https://orcid.org/0000-0002-6171-4651"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Cheng","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101467394","display_name":"Zhihui Liang","orcid":"https://orcid.org/0000-0002-5601-3279"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihui Liang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.177,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54127919,"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":"7461","last_page":"7466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9975000023841858,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958000183105469,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7592856884002686},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5955433249473572},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5901371836662292},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5895652174949646},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5677828192710876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5517105460166931},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5337883830070496},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5094144940376282},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5048432946205139},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.504578709602356},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4892744719982147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4823684096336365},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4319634735584259},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4204971194267273},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.41949304938316345},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39226725697517395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32302963733673096},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24000105261802673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1991744041442871},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08561190962791443}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7592856884002686},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5955433249473572},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5901371836662292},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5895652174949646},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5677828192710876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5517105460166931},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5337883830070496},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5094144940376282},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5048432946205139},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.504578709602356},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4892744719982147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4823684096336365},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4319634735584259},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4204971194267273},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.41949304938316345},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39226725697517395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32302963733673096},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24000105261802673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1991744041442871},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08561190962791443},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992594","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1965420754","https://openalex.org/W2000985550","https://openalex.org/W2002201291","https://openalex.org/W2052862714","https://openalex.org/W2056784142","https://openalex.org/W2123871098","https://openalex.org/W2159583056","https://openalex.org/W2513178932","https://openalex.org/W2571001406","https://openalex.org/W2754918589","https://openalex.org/W2883180136","https://openalex.org/W2962853966","https://openalex.org/W2963214840","https://openalex.org/W3015470607","https://openalex.org/W3102244603","https://openalex.org/W3120187754","https://openalex.org/W4292363360"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W3200041777","https://openalex.org/W2785353696","https://openalex.org/W4381746183"],"abstract_inverted_index":{"In":[0,22],"the":[1,14,52,73,85,89,100,107],"motion":[2],"planning":[3],"of":[4,39,88,94,111],"robot,":[5],"nonlinear":[6],"dynamic":[7,62],"constraints":[8,12,63,78],"and":[9,18,42,64,99,109],"obstacle":[10,69,76],"avoidance":[11,70,77],"make":[13],"problem":[15,54],"highly":[16],"non-convex":[17],"difficult":[19],"to":[20],"solve.":[21],"this":[23],"paper,":[24],"a":[25,65],"general":[26],"algorithmic":[27],"framework":[28,50],"for":[29],"trajectory":[30],"optimization":[31],"is":[32,79,97],"proposed":[33,95,112],"based":[34,83],"on":[35,84],"alternating":[36],"direction":[37],"method":[38],"multipliers":[40],"(ADMM)":[41],"convex":[43],"feasible":[44,90],"set":[45],"algorithm":[46,96],"(CFS).":[47],"The":[48,92],"ADMM":[49],"decomposes":[51],"original":[53],"into":[55],"an":[56],"optimal":[57],"control":[58],"sub-problem":[59,74],"with":[60,67,75],"only":[61,68],"subproblem":[66],"constraints,":[71],"while":[72],"solved":[80],"via":[81],"CFS":[82],"geometric":[86],"properties":[87],"region.":[91],"convergence":[93],"proven,":[98],"simulation":[101],"results":[102],"in":[103],"different":[104],"cases":[105],"verify":[106],"feasibility":[108],"effectiveness":[110],"algorithm.":[113]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}