{"id":"https://openalex.org/W2529563315","doi":"https://doi.org/10.1109/etfa.2016.7733510","title":"Dynamic trajectory planning for mobile robot navigation in crowded environments","display_name":"Dynamic trajectory planning for mobile robot navigation in crowded environments","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2529563315","doi":"https://doi.org/10.1109/etfa.2016.7733510","mag":"2529563315"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2016.7733510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2016.7733510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://porto.polito.it/2650938/2/paperETFA2016_Primatesta.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080679722","display_name":"Stefano Primatesta","orcid":"https://orcid.org/0000-0001-7903-5019"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stefano Primatesta","raw_affiliation_strings":["Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065484506","display_name":"Ludovico Orlando Russo","orcid":"https://orcid.org/0000-0001-8617-8966"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ludovico Orlando Russo","raw_affiliation_strings":["Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082857249","display_name":"Basilio Bona","orcid":"https://orcid.org/0000-0002-4924-9144"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Basilio Bona","raw_affiliation_strings":["Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Automatica e Informatica, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080679722"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":null,"apc_paid":null,"fwci":0.3379,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67303476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"1","last_page":"8"},"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9894000291824341,"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/motion-planning","display_name":"Motion planning","score":0.8034496903419495},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7304489612579346},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7285038828849792},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6960789561271667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6582362055778503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5431053638458252},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5160579085350037},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47141239047050476},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4552913308143616},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.44623899459838867},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.4303937554359436},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4292599856853485},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4200695753097534},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37400779128074646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32532835006713867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31674724817276},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2462599277496338},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16129711270332336},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07245984673500061}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8034496903419495},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7304489612579346},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7285038828849792},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6960789561271667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6582362055778503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5431053638458252},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5160579085350037},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47141239047050476},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4552913308143616},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.44623899459838867},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.4303937554359436},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4292599856853485},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4200695753097534},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37400779128074646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32532835006713867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31674724817276},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2462599277496338},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16129711270332336},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07245984673500061},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/etfa.2016.7733510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2016.7733510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:porto.polito.it:2650938","is_oa":true,"landing_page_url":"http://porto.polito.it/2650938/2/paperETFA2016_Primatesta.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306402038","display_name":"PORTO Publications Open Repository TOrino (Politecnico di Torino)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177477856","host_organization_name":"Politecnico di Torino","host_organization_lineage":["https://openalex.org/I177477856"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:porto.polito.it:2650938","is_oa":true,"landing_page_url":"http://porto.polito.it/2650938/2/paperETFA2016_Primatesta.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306402038","display_name":"PORTO Publications Open Repository TOrino (Politecnico di Torino)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177477856","host_organization_name":"Politecnico di Torino","host_organization_lineage":["https://openalex.org/I177477856"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4300000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1519898821","https://openalex.org/W1544691083","https://openalex.org/W1656031401","https://openalex.org/W1777783943","https://openalex.org/W1963649406","https://openalex.org/W1976930960","https://openalex.org/W2051410615","https://openalex.org/W2071005201","https://openalex.org/W2080674339","https://openalex.org/W2082585576","https://openalex.org/W2108643443","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2114476723","https://openalex.org/W2120399177","https://openalex.org/W2124348791","https://openalex.org/W2125409550","https://openalex.org/W2149716029","https://openalex.org/W2162729570","https://openalex.org/W2167340365","https://openalex.org/W2545342975","https://openalex.org/W2901136733","https://openalex.org/W3102121895","https://openalex.org/W4233290410","https://openalex.org/W6605295560","https://openalex.org/W6670605241","https://openalex.org/W6684321233","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"This":[0,163],"paper":[1],"describes":[2],"a":[3,23,50,73,137,151,169,174,179,183],"trajectory":[4,63],"planning":[5,22],"algorithm":[6,35,121],"for":[7],"mobile":[8,175],"robot":[9,60,157,176],"navigation":[10],"in":[11,55,117,168,182],"crowded":[12,56],"environments;":[13],"the":[14,19,38,46,59,62,65,91,103,108,114,120,125,130,156,159],"aim":[15],"is":[16,98,133,136,166],"to":[17,53,78,82,123,144,158],"solve":[18],"problem":[20],"of":[21,64,110],"valid":[24,51,152],"path":[25,52,93,132,139,153],"through":[26,178],"moving":[27,111],"people.":[28],"The":[29],"proposed":[30],"solution":[31,77,87,105,148],"relies":[32],"on":[33,37,113],"an":[34,96],"based":[36],"Informed":[39],"Optimal":[40],"Rapidly-exploring":[41],"Random":[42],"Tree":[43],"(InformedRRT*),":[44],"where":[45,173],"planner":[47],"continuously":[48],"computes":[49],"navigate":[54],"environments.":[57],"While":[58],"executes":[61],"current":[66,104,115,126,131],"path,":[67],"this":[68,86,118],"re-planning":[69],"method":[70],"always":[71,149],"allows":[72],"feasible":[74],"and":[75,185],"optimal":[76],"be":[79],"obtained.":[80],"Compared":[81],"other":[83],"state-of-the-art":[84],"algorithms,":[85],"does":[88],"not":[89],"compute":[90],"entire":[92],"each":[94],"time":[95],"obstacle":[97],"detected,":[99],"instead":[100],"it":[101],"evaluating":[102],"validity,":[106],"i.e.,":[107],"presence":[109],"obstacles":[112],"path;":[116],"case":[119,171],"tries":[122],"repair":[124],"solution.":[127],"Only":[128],"if":[129],"completely":[134],"unacceptable":[135],"new":[138],"computed":[140],"from":[141],"scratch.":[142],"Thanks":[143],"its":[145],"reactivity,":[146],"our":[147],"guarantees":[150],"that":[154],"brings":[155],"desired":[160],"goal":[161],"position.":[162],"dynamic":[164],"approach":[165],"validated":[167],"real":[170],"scenario":[172],"moves":[177],"human":[180],"crowd":[181],"safe":[184],"reliable":[186],"way.":[187]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
