{"id":"https://openalex.org/W2783690174","doi":"https://doi.org/10.1109/coase.2017.8256090","title":"Nonlinear programming for multi-vehicle motion planning with homotopy initialization strategies","display_name":"Nonlinear programming for multi-vehicle motion planning with homotopy initialization strategies","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2783690174","doi":"https://doi.org/10.1109/coase.2017.8256090","mag":"2783690174"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2017.8256090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","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/A5100608938","display_name":"Bai Li","orcid":"https://orcid.org/0000-0002-8966-8992"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Li","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University","[College of Control Science and Engineering, Zhejiang University]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"[College of Control Science and Engineering, Zhejiang University]","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100886581","display_name":"Zhijiang Shao","orcid":"https://orcid.org/0000-0003-3016-4658"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijiang Shao","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Department of Mechanical, Concordia University, Montreal, Canada","[Department of Mechanical, Industrial and Aerospace Engineering, Concordia Institute of Aerospace Design and Innovation, Concordia University, Montreal, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"[Department of Mechanical, Industrial and Aerospace Engineering, Concordia Institute of Aerospace Design and Innovation, Concordia University, Montreal, Canada]","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404009","display_name":"Pu Li","orcid":"https://orcid.org/0000-0001-6481-9961"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pu Li","raw_affiliation_strings":["Department of Simulation and Optimal Processes, Ilmenau University of Technology, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Simulation and Optimal Processes, Ilmenau University of Technology, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9896000027656555,"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/initialization","display_name":"Initialization","score":0.885362446308136},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.6634436845779419},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6491101980209351},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6384503245353699},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6205366849899292},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5997623801231384},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5503843426704407},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45856228470802307},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4363565146923065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2949230372905731},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2721869945526123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2537207007408142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10306179523468018}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.885362446308136},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.6634436845779419},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6491101980209351},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6384503245353699},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6205366849899292},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5997623801231384},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5503843426704407},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45856228470802307},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4363565146923065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2949230372905731},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2721869945526123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2537207007408142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10306179523468018},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/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/coase.2017.8256090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W32640589","https://openalex.org/W1848513657","https://openalex.org/W1976206762","https://openalex.org/W1993436019","https://openalex.org/W2008082561","https://openalex.org/W2011980800","https://openalex.org/W2016501629","https://openalex.org/W2027311349","https://openalex.org/W2070392617","https://openalex.org/W2071447697","https://openalex.org/W2103929204","https://openalex.org/W2109835212","https://openalex.org/W2123030512","https://openalex.org/W2123871098","https://openalex.org/W2124015815","https://openalex.org/W2136323427","https://openalex.org/W2168067586","https://openalex.org/W2288381328","https://openalex.org/W2339802450","https://openalex.org/W2345973286","https://openalex.org/W2394807440","https://openalex.org/W2408209020","https://openalex.org/W2409024337","https://openalex.org/W2568340555","https://openalex.org/W2579364800","https://openalex.org/W2606324808","https://openalex.org/W2786741601","https://openalex.org/W2987233852","https://openalex.org/W4246623799","https://openalex.org/W6639099412"],"related_works":["https://openalex.org/W2002789751","https://openalex.org/W3190282061","https://openalex.org/W2370949144","https://openalex.org/W2090869184","https://openalex.org/W2775363352","https://openalex.org/W2783690174","https://openalex.org/W2026518960","https://openalex.org/W3089836232","https://openalex.org/W2298416129","https://openalex.org/W2087412156"],"abstract_inverted_index":{"Multi-vehicle":[0],"motion":[1],"planning":[2],"(MVMP)":[3],"is":[4,35,98,132,145,177,186],"a":[5,105,139],"critical":[6],"decision-making":[7],"module":[8],"in":[9,24,72,92,119,138],"intelligent":[10],"transportation":[11],"systems.":[12],"Compared":[13],"to":[14,122,147,153,161],"the":[15,33,41,59,68,73,80,102,109,124,148,151,158,163,167,174,182],"decentralized":[16],"MVMP":[17,20,42],"methods,":[18],"centralized":[19,45],"methods":[21],"are":[22,51,90,117,136],"beneficial":[23],"being":[25],"generic":[26],"and":[27,79,191],"complete,":[28],"because":[29],"information":[30],"of":[31,61,76,83,130,166,181],"all":[32],"vehicles":[34],"simultaneously":[36],"considered.":[37],"This":[38,170],"study":[39],"formulates":[40],"problems":[43,50,57],"as":[44,157],"optimal":[46],"control":[47],"problems.":[48],"These":[49],"parameterized":[52],"into":[53],"nonlinear":[54],"programming":[55],"(NLP)":[56],"for":[58],"convenience":[60],"numerical":[62,189],"solution.":[63],"In":[64],"solving":[65,111,164],"those":[66],"NLPs,":[67],"main":[69,128],"challenges":[70],"lie":[71],"large":[74],"scale":[75],"collision-avoidance":[77],"constraints,":[78],"high":[81],"nonlinearity":[82],"vehicle":[84],"kinematics.":[85],"The":[86,127,179],"typical":[87],"NLP":[88,110],"solvers":[89],"inefficient":[91],"directly":[93],"handling":[94],"such":[95,141],"difficulties.":[96],"It":[97],"widely":[99],"known":[100],"that":[101,133,142],"initialization":[103,115,184],"has":[104],"significant":[106],"influence":[107],"on":[108],"behavior.":[112],"Therefore,":[113],"homotopy":[114,131],"strategies":[116,185],"developed":[118],"this":[120],"work":[121],"generate":[123],"initial":[125,159],"guess.":[126],"idea":[129],"simplified":[134],"subproblems":[135],"solved":[137],"sequence":[140],"each":[143,154],"subproblem":[144,155],"closer":[146],"original":[149,175],"problem;":[150],"solution":[152],"serves":[156],"guess":[160],"facilitate":[162],"process":[165,171],"next":[168],"subproblem.":[169],"continues":[172],"until":[173],"problem":[176],"solved.":[178],"efficiency":[180],"proposed":[183],"verified":[187],"via":[188],"experimentation":[190],"theoretical":[192],"analysis.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}