{"id":"https://openalex.org/W2159064333","doi":"https://doi.org/10.1109/icra.2011.5980146","title":"Online generation of kinodynamic trajectories for non-circular omnidirectional robots","display_name":"Online generation of kinodynamic trajectories for non-circular omnidirectional robots","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2159064333","doi":"https://doi.org/10.1109/icra.2011.5980146","mag":"2159064333"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5032319796","display_name":"Christoph Sprunk","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Sprunk","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063131946","display_name":"Boris Lau","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Boris Lau","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062265906","display_name":"Patrick Pfaffz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Pfaffz","raw_affiliation_strings":["KUKA Laboratories GmbH, Augsburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KUKA Laboratories GmbH, Augsburg, Germany","institution_ids":["https://openalex.org/I4210129999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"72","last_page":"77"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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/holonomic","display_name":"Holonomic","score":0.7747939825057983},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6678076386451721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.651369571685791},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6179720163345337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6022612452507019},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5271971821784973},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49694064259529114},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4916992783546448},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46018606424331665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3891470432281494}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7747939825057983},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6678076386451721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.651369571685791},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6179720163345337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6022612452507019},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5271971821784973},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49694064259529114},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4916992783546448},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46018606424331665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3891470432281494},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"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/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/icra.2011.5980146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.231.1800","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.231.1800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ais.informatik.uni-freiburg.de/publications/papers/sprunk11icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1672960334","https://openalex.org/W1993999483","https://openalex.org/W2000359213","https://openalex.org/W2036016432","https://openalex.org/W2068262213","https://openalex.org/W2070092132","https://openalex.org/W2078536073","https://openalex.org/W2083884572","https://openalex.org/W2089950862","https://openalex.org/W2097045101","https://openalex.org/W2113029345","https://openalex.org/W2113122194","https://openalex.org/W2113526778","https://openalex.org/W2131505299","https://openalex.org/W2133099608","https://openalex.org/W2158970477","https://openalex.org/W2165852544","https://openalex.org/W2207462863","https://openalex.org/W2548511631","https://openalex.org/W6676920756","https://openalex.org/W6679650830","https://openalex.org/W6688002275"],"related_works":["https://openalex.org/W2281200235","https://openalex.org/W84202494","https://openalex.org/W2577491335","https://openalex.org/W2069596755","https://openalex.org/W2045978853","https://openalex.org/W4386597929","https://openalex.org/W2166825355","https://openalex.org/W2115907340","https://openalex.org/W4391071665","https://openalex.org/W1980553196"],"abstract_inverted_index":{"This":[0,102],"paper":[1],"presents":[2],"a":[3,52,92],"novel":[4,53],"approach":[5,125],"to":[6,27,91],"kino-dynamic":[7],"trajectory":[8],"generation":[9],"for":[10,36,58],"non-circular":[11],"omnidirectional":[12],"platforms":[13],"that":[14,123,133],"can":[15,134],"be":[16,135],"combined":[17],"with":[18,70,78,137],"existing":[19],"path":[20,54,62],"planners.":[21],"We":[22],"use":[23],"quintic":[24],"B\u00e9zier":[25],"splines":[26],"specify":[28],"position":[29],"and":[30,75,81,107,129,140,152],"orientation":[31],"of":[32,46,61,99],"the":[33,44,47,65,73,97,100,143],"holonomic":[34,48],"robot":[35,49,121],"every":[37],"point":[38],"in":[39,64,110,146],"time.":[40],"To":[41],"fully":[42],"exploit":[43],"capabilities":[45],"we":[50],"propose":[51],"representation.":[55],"It":[56],"allows":[57],"continuous":[59],"variation":[60],"shapes":[63],"spectrum":[66],"between":[67],"straight-line":[68],"paths":[69,77],"turns":[71],"on":[72,118],"spot":[74],"smooth":[76,130],"independent":[79],"rotations":[80],"translations.":[82],"Using":[83],"this":[84],"representation":[85],"our":[86,124],"method":[87],"optimizes":[88],"trajectories":[89,109,132],"according":[90],"user-defined":[93],"cost":[94],"function,":[95],"considering":[96],"constraints":[98],"platform.":[101],"way,":[103],"it":[104],"generates":[105,126],"fast":[106],"efficient":[108,128],"an":[111,119],"anytime":[112],"fashion.":[113],"The":[114],"experiments":[115],"carried":[116],"out":[117],"industrial":[120],"show":[122],"highly":[127],"motion":[131],"tracked":[136],"high":[138],"precision":[139],"predictability.":[141],"Furthermore,":[142],"system":[144],"operates":[145],"real-world":[147],"environments":[148],"containing":[149],"unmapped":[150],"obstacles":[151],"narrow":[153],"passages.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}