{"id":"https://openalex.org/W2112398472","doi":"https://doi.org/10.1109/ecc.2015.7330693","title":"Optimal motion planning with temporal logic and switching constraints","display_name":"Optimal motion planning with temporal logic and switching constraints","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W2112398472","doi":"https://doi.org/10.1109/ecc.2015.7330693","mag":"2112398472"},"language":"en","primary_location":{"id":"doi:10.1109/ecc.2015.7330693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecc.2015.7330693","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 European Control Conference (ECC)","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/A5032442070","display_name":"Vladislav Nenchev","orcid":"https://orcid.org/0000-0002-9261-2746"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vladislav Nenchev","raw_affiliation_strings":["Control Systems Group, Technische Universit&#x00E4;t Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Group, Technische Universit&#x00E4;t Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086742095","display_name":"C\u0103lin Belta","orcid":"https://orcid.org/0000-0002-7141-2657"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Calin Belta","raw_affiliation_strings":["Department of Mechanical Engineering and the Division of Systems Engineering, Boston University, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Division of Systems Engineering, Boston University, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033002944","display_name":"J\u00f6rg Raisch","orcid":"https://orcid.org/0000-0002-8724-0773"},"institutions":[{"id":"https://openalex.org/I4210127568","display_name":"Max Planck Institute for Dynamics of Complex Technical Systems","ror":"https://ror.org/030h7k016","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210127568"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00f6rg Raisch","raw_affiliation_strings":["Control Systems Group, Technische Universit&#x00E4;t Berlin and the Systems and Control Theory Group, Max Planck Institute for Dynamics of Complex Technical Systems, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Group, Technische Universit&#x00E4;t Berlin and the Systems and Control Theory Group, Max Planck Institute for Dynamics of Complex Technical Systems, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210127568"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.811,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82636472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1141","last_page":"1146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10142","display_name":"Formal Methods in Verification","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.7541386485099792},{"id":"https://openalex.org/keywords/hybrid-automaton","display_name":"Hybrid automaton","score":0.7495533227920532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6448497772216797},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6292408108711243},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.6280300617218018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6090789437294006},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.6063543558120728},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.595042884349823},{"id":"https://openalex.org/keywords/b\u00fcchi-automaton","display_name":"B\u00fcchi automaton","score":0.57612144947052},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.544738233089447},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5266808271408081},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4479161202907562},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4334200322628021},{"id":"https://openalex.org/keywords/computation-tree-logic","display_name":"Computation tree logic","score":0.41617900133132935},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.4119224548339844},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.38524073362350464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32153427600860596},{"id":"https://openalex.org/keywords/deterministic-automaton","display_name":"Deterministic automaton","score":0.28149107098579407}],"concepts":[{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.7541386485099792},{"id":"https://openalex.org/C2776028153","wikidata":"https://www.wikidata.org/wiki/Q5953179","display_name":"Hybrid automaton","level":3,"score":0.7495533227920532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6448497772216797},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6292408108711243},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.6280300617218018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6090789437294006},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.6063543558120728},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.595042884349823},{"id":"https://openalex.org/C165753454","wikidata":"https://www.wikidata.org/wiki/Q1020380","display_name":"B\u00fcchi automaton","level":4,"score":0.57612144947052},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.544738233089447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5266808271408081},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4479161202907562},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4334200322628021},{"id":"https://openalex.org/C198008173","wikidata":"https://www.wikidata.org/wiki/Q1040040","display_name":"Computation tree logic","level":3,"score":0.41617900133132935},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.4119224548339844},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.38524073362350464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32153427600860596},{"id":"https://openalex.org/C194525867","wikidata":"https://www.wikidata.org/wiki/Q5265707","display_name":"Deterministic automaton","level":3,"score":0.28149107098579407},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecc.2015.7330693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecc.2015.7330693","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.mpg.de:item_2176380","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0029-1A50-9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 14th European Control Conference (ECC 2015)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"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":26,"referenced_works":["https://openalex.org/W1540883472","https://openalex.org/W1601649239","https://openalex.org/W1775521486","https://openalex.org/W1968254796","https://openalex.org/W1982025959","https://openalex.org/W2000359213","https://openalex.org/W2034592322","https://openalex.org/W2054585537","https://openalex.org/W2065894019","https://openalex.org/W2071797744","https://openalex.org/W2082965709","https://openalex.org/W2095901198","https://openalex.org/W2102488278","https://openalex.org/W2102500696","https://openalex.org/W2105080564","https://openalex.org/W2110915954","https://openalex.org/W2111479185","https://openalex.org/W2117927826","https://openalex.org/W2130290065","https://openalex.org/W2148446974","https://openalex.org/W2167372206","https://openalex.org/W2168210873","https://openalex.org/W2294829546","https://openalex.org/W2322344890","https://openalex.org/W2350588687","https://openalex.org/W2961703895"],"related_works":["https://openalex.org/W858755136","https://openalex.org/W1981889059","https://openalex.org/W3005864166","https://openalex.org/W2143025323","https://openalex.org/W31328628","https://openalex.org/W3091862538","https://openalex.org/W2108751562","https://openalex.org/W1513159096","https://openalex.org/W1988027993","https://openalex.org/W3203185400"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,20,75,89,137,141,146,150,164],"method":[4,133],"for":[5,13],"automatic":[6],"generation":[7],"of":[8,16,23,63,78,88],"time-optimal":[9,129],"robot":[10,38,84,144],"motion":[11],"trajectories":[12],"the":[14,61,79,83,86,111,128],"task":[15],"collecting":[17],"and":[18,65,124,145],"moving":[19,152],"finite":[21,90],"number":[22],"objects":[24],"to":[25,127,136],"particular":[26],"spots":[27],"in":[28,85,116,153],"space,":[29],"while":[30],"maintaining":[31],"predefined":[32],"temporal":[33,48],"logic":[34],"constraints.":[35],"The":[36,47,113,132],"continuous":[37],"dynamics":[39],"change":[40],"upon":[41],"an":[42,70,104,154],"object":[43,64],"pick-up":[44],"or":[45],"drop-off.":[46],"constraints":[49],"are":[50],"expressed":[51],"as":[52],"syntactically":[53],"co-safe":[54],"Linear":[55],"Temporal":[56],"Logic":[57],"(scLTL)":[58],"formulas":[59],"over":[60,163],"set":[62],"drop-off":[66],"sites.":[67],"We":[68],"propose":[69],"approach":[71],"based":[72],"on":[73],"constructing":[74],"discrete":[76],"abstraction":[77],"hybrid":[80,130],"system":[81],"modeling":[82],"form":[87],"weighted":[91],"transition":[92],"system.":[93],"Then,":[94],"by":[95,121],"employing":[96],"tools":[97],"from":[98],"automata-based":[99],"model":[100],"checking,":[101],"we":[102],"obtain":[103],"automaton":[105,118],"containing":[106],"only":[107],"paths":[108],"that":[109],"satisfy":[110],"specification.":[112],"shortest":[114],"path":[115],"this":[117],"is":[119,134],"found":[120],"graph":[122],"search":[123],"corresponds":[125],"directly":[126],"trajectory.":[131],"applied":[135],"case":[138,147],"study":[139,148],"with":[140,156],"mobile":[142],"ground":[143],"involving":[149],"quadrotor":[151],"environment":[155],"obstacles,":[157],"thus":[158],"reflecting":[159],"its":[160],"computational":[161],"advantage":[162],"direct":[165],"optimization":[166],"approach.":[167]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
