{"id":"https://openalex.org/W1981703801","doi":"https://doi.org/10.1109/icarcv.2014.7064560","title":"Exact and efficient local planning for orbitally flat systems within the RRT* framework","display_name":"Exact and efficient local planning for orbitally flat systems within the RRT* framework","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1981703801","doi":"https://doi.org/10.1109/icarcv.2014.7064560","mag":"1981703801"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics &amp; Vision (ICARCV)","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/A5064376356","display_name":"Martin Seemann","orcid":"https://orcid.org/0000-0001-9133-6789"},"institutions":[{"id":"https://openalex.org/I78650965","display_name":"TU Dresden","ror":"https://ror.org/042aqky30","country_code":"DE","type":"education","lineage":["https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Martin Seemann","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, Technische Universit&#x00E4;t Dresden, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, Technische Universit&#x00E4;t Dresden, Germany","institution_ids":["https://openalex.org/I78650965"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042050845","display_name":"Klaus Janschek","orcid":"https://orcid.org/0000-0002-7244-8977"},"institutions":[{"id":"https://openalex.org/I78650965","display_name":"TU Dresden","ror":"https://ror.org/042aqky30","country_code":"DE","type":"education","lineage":["https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Janschek","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, Technische Universit&#x00E4;t Dresden, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, Technische Universit&#x00E4;t Dresden, Germany","institution_ids":["https://openalex.org/I78650965"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5064376356"],"corresponding_institution_ids":["https://openalex.org/I78650965"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.05896561,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"abs 1005 416","issue":null,"first_page":"1631","last_page":"1636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.977400004863739,"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/planner","display_name":"Planner","score":0.7724319100379944},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.638535737991333},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.6140204668045044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6032707691192627},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5410237908363342},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5259897112846375},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5237671732902527},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45035040378570557},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28721070289611816},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2767665386199951},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.159549742937088},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12836980819702148}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7724319100379944},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.638535737991333},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.6140204668045044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6032707691192627},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5410237908363342},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5259897112846375},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5237671732902527},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45035040378570557},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28721070289611816},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2767665386199951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.159549742937088},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12836980819702148},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2014.7064560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics &amp; Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W10031084","https://openalex.org/W131069610","https://openalex.org/W1585104299","https://openalex.org/W1969483458","https://openalex.org/W2018740177","https://openalex.org/W2054585537","https://openalex.org/W2065297540","https://openalex.org/W2071401582","https://openalex.org/W2162991084","https://openalex.org/W2166077797","https://openalex.org/W2171205311","https://openalex.org/W2296385533","https://openalex.org/W2611243847","https://openalex.org/W2949623849","https://openalex.org/W6600413971","https://openalex.org/W6605295560","https://openalex.org/W6628159888","https://openalex.org/W6635187633","https://openalex.org/W6638062875"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W99657755","https://openalex.org/W2998826171","https://openalex.org/W2036736859"],"abstract_inverted_index":{"Popular":[0],"trajectory":[1],"planning":[2,50,122,128],"techniques":[3],"for":[4,52,123],"systems":[5,63,75],"with":[6,40,64,82],"many":[7],"state":[8],"variables":[9],"and":[10,21,44,127],"complicated":[11],"constraints":[12],"are":[13,130],"the":[14,31,41,80,96,106,118],"Rapidly":[15],"Exploring":[16],"Random":[17],"Trees":[18],"(RRT)":[19],"framework":[20],"its":[22],"extension":[23],"RRT\u2217.":[24],"However,":[25],"both":[26],"algorithms":[27],"heavily":[28],"depend":[29],"on":[30],"availability":[32],"of":[33,56,105,120],"a":[34,48,53,124,133],"Local":[35],"Planner":[36],"that":[37,94,136],"can":[38,76,99],"cope":[39],"system's":[42],"dynamics":[43],"constraints.":[45],"We":[46,92],"describe":[47],"local":[49,107],"technique":[51],"wide":[54],"range":[55],"orbitally":[57],"flat":[58,62,90],"systems,":[59],"i.e.":[60],"differentially":[61,89],"time":[65],"scaling.":[66],"Although":[67],"differential":[68,97],"equations":[69,98],"appear":[70],"in":[71],"their":[72],"descriptions,":[73],"these":[74],"be":[77,100],"handled":[78],"by":[79],"RRT\u2217":[81],"only":[83],"very":[84],"little":[85],"overhead":[86],"compared":[87,131],"to":[88,111,117,132],"ones.":[91],"show":[93],"solving":[95],"avoided":[101],"during":[102],"most":[103],"invocations":[104],"planner":[108],"without":[109],"resorting":[110],"approximations.":[112,139],"The":[113],"approach":[114],"is":[115],"applied":[116],"task":[119],"3D-trajectory":[121],"fixed-wing":[125],"aircraft":[126],"results":[129],"previous":[134],"implementation":[135],"did":[137],"use":[138]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
