{"id":"https://openalex.org/W7123344233","doi":"https://doi.org/10.1109/cdc57313.2025.11312044","title":"Scalable Trajectory Planning for Multi-Agent Systems Using Continuum Mechanics and Bernstein Polynomials","display_name":"Scalable Trajectory Planning for Multi-Agent Systems Using Continuum Mechanics and Bernstein Polynomials","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123344233","doi":"https://doi.org/10.1109/cdc57313.2025.11312044"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11312044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th 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/A5122900496","display_name":"Maxwell Hammond","orcid":null},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Maxwell Hammond","raw_affiliation_strings":["University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240"],"affiliations":[{"raw_affiliation_string":"University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093537434","display_name":"Gage MacLin","orcid":"https://orcid.org/0009-0001-2612-308X"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gage MacLin","raw_affiliation_strings":["University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240"],"affiliations":[{"raw_affiliation_string":"University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034372948","display_name":"Amirreza Fahim Golestaneh","orcid":"https://orcid.org/0000-0001-5409-846X"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amirreza F. Golestaneh","raw_affiliation_strings":["University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240"],"affiliations":[{"raw_affiliation_string":"University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014268576","display_name":"Venanzio Cichella","orcid":"https://orcid.org/0000-0002-1876-9526"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Venanzio Cichella","raw_affiliation_strings":["University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240"],"affiliations":[{"raw_affiliation_string":"University of Iowa,Department of Mechanical Engineering,Iowa City,IA,52240","institution_ids":["https://openalex.org/I126307644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5122900496"],"corresponding_institution_ids":["https://openalex.org/I126307644"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.66147002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1570","last_page":"1575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8564000129699707,"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":0.8564000129699707,"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":0.0215000007301569,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.01810000091791153,"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/trajectory","display_name":"Trajectory","score":0.6366000175476074},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6261000037193298},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47200000286102295},{"id":"https://openalex.org/keywords/bernstein-polynomial","display_name":"Bernstein polynomial","score":0.4075999855995178},{"id":"https://openalex.org/keywords/partial-differential-equation","display_name":"Partial differential equation","score":0.4020000100135803},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4018999934196472},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.3671000003814697},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.35350000858306885}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6366000175476074},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6261000037193298},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47200000286102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47119998931884766},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.4643000066280365},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4523000121116638},{"id":"https://openalex.org/C34179328","wikidata":"https://www.wikidata.org/wiki/Q826841","display_name":"Bernstein polynomial","level":2,"score":0.4075999855995178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40619999170303345},{"id":"https://openalex.org/C93779851","wikidata":"https://www.wikidata.org/wiki/Q271977","display_name":"Partial differential equation","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4018999934196472},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3384000062942505},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.32739999890327454},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.29089999198913574},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11312044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"When":[0],"tackling":[1],"the":[2,84,88],"issue":[3],"of":[4,12,15,35,44,87],"scalability":[5],"in":[6],"trajectory":[7,42],"planning":[8],"for":[9,40],"large":[10],"numbers":[11],"agents,":[13],"generation":[14,43],"continuous":[16],"surfaces":[17],"from":[18,33],"partial":[19],"differential":[20],"equation":[21],"solutions":[22],"has":[23],"become":[24],"increasingly":[25],"popular.":[26],"In":[27],"this":[28],"work,":[29],"a":[30,59,69,72],"framework":[31],"borrowing":[32],"principles":[34],"continuum":[36],"dynamics":[37],"is":[38,49],"proposed":[39],"scalable":[41],"multi-agent":[45],"systems.":[46],"The":[47],"problem":[48,55,63],"presented":[50],"as":[51,71],"an":[52],"optimal":[53],"control":[54],"(OCP),":[56],"transcribed":[57],"to":[58,91,94],"nonlinear":[60],"programming":[61],"(NLP)":[62],"with":[64],"Bernstein":[65,89],"polynomials,":[66],"which":[67],"gives":[68],"solution":[70,76],"time-dependent":[73],"solid.":[74],"This":[75],"inherently":[77],"guarantees":[78],"inter-agent":[79],"collision":[80,98],"avoidance":[81],"and":[82],"leverages":[83],"unique":[85],"properties":[86],"basis":[90],"ensure":[92],"adherence":[93],"constraints":[95],"including":[96],"obstacle":[97],"avoidance.":[99]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-14T00:00:00"}