{"id":"https://openalex.org/W2086687100","doi":"https://doi.org/10.1109/icra.2012.6225074","title":"Time-optimal multi-stage motion planning with guaranteed collision avoidance via an open-loop game formulation","display_name":"Time-optimal multi-stage motion planning with guaranteed collision avoidance via an open-loop game formulation","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2086687100","doi":"https://doi.org/10.1109/icra.2012.6225074","mag":"2086687100"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5023511815","display_name":"Ryo Takei","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryo Takei","raw_affiliation_strings":["Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA","Electrical Engineering and Computer Sciences department at UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Electrical Engineering and Computer Sciences department at UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021839334","display_name":"Haomiao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haomiao Huang","raw_affiliation_strings":["Aeronautics and Astronautics Department, University of Stanford, USA","Aeronautics and Astronautics department at Stanford University, USA"],"affiliations":[{"raw_affiliation_string":"Aeronautics and Astronautics Department, University of Stanford, USA","institution_ids":["https://openalex.org/I46020346"]},{"raw_affiliation_string":"Aeronautics and Astronautics department at Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112334593","display_name":"Jerry Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jerry Ding","raw_affiliation_strings":["Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA","Electrical Engineering and Computer Sciences department at UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Electrical Engineering and Computer Sciences department at UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA","Electrical Engineering and Computer Sciences department at UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Electrical Engineering and Computer Sciences department at UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023511815"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":5.73296036,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.96877143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"323","last_page":"329"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"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"}},{"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9800999760627747,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6929076910018921},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6227920651435852},{"id":"https://openalex.org/keywords/differential-game","display_name":"Differential game","score":0.6208959817886353},{"id":"https://openalex.org/keywords/fast-marching-method","display_name":"Fast marching method","score":0.5396474003791809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5308336615562439},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5170710682868958},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.514861524105072},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4629695415496826},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.46019577980041504},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.45971065759658813},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.443070650100708},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.42286908626556396},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41935276985168457},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4149259328842163},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3696701228618622},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2815236449241638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19616925716400146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16917571425437927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1259237825870514},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09783199429512024},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08566486835479736},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08273771405220032}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6929076910018921},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6227920651435852},{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.6208959817886353},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.5396474003791809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5308336615562439},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5170710682868958},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.514861524105072},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4629695415496826},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.46019577980041504},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.45971065759658813},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.443070650100708},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.42286908626556396},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41935276985168457},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4149259328842163},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3696701228618622},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2815236449241638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19616925716400146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16917571425437927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1259237825870514},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09783199429512024},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08566486835479736},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08273771405220032},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W30473988","https://openalex.org/W1487586009","https://openalex.org/W1550828720","https://openalex.org/W1582899597","https://openalex.org/W1973400989","https://openalex.org/W1979743043","https://openalex.org/W1995408953","https://openalex.org/W2004815408","https://openalex.org/W2012872284","https://openalex.org/W2036016432","https://openalex.org/W2038475577","https://openalex.org/W2042517341","https://openalex.org/W2054113582","https://openalex.org/W2055341194","https://openalex.org/W2099593662","https://openalex.org/W2104691494","https://openalex.org/W2110073061","https://openalex.org/W2116364955","https://openalex.org/W2116753650","https://openalex.org/W2122410182","https://openalex.org/W2123505723","https://openalex.org/W2126757501","https://openalex.org/W2132004142","https://openalex.org/W2155974215","https://openalex.org/W2166194012","https://openalex.org/W2166462345","https://openalex.org/W2167869989","https://openalex.org/W2336416123","https://openalex.org/W2998023265","https://openalex.org/W4242994168","https://openalex.org/W4244726376","https://openalex.org/W6674861906","https://openalex.org/W6772576394"],"related_works":["https://openalex.org/W2967993767","https://openalex.org/W2415867404","https://openalex.org/W4297450478","https://openalex.org/W2998623850","https://openalex.org/W2951778600","https://openalex.org/W2027689502","https://openalex.org/W1860444874","https://openalex.org/W4381746183","https://openalex.org/W4384009577","https://openalex.org/W2368795992"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2],"efficient":[3],"algorithm":[4],"which":[5,64],"computes,":[6],"for":[7,73],"a":[8,16,21,49,66,95],"kinematic":[9,36],"point":[10,37],"mass":[11],"moving":[12,31],"in":[13],"the":[14,54,69,83],"plane,":[15],"time-optimal":[17],"path":[18,75],"that":[19],"visits":[20],"sequence":[22],"of":[23,68],"target":[24],"sets":[25],"while":[26],"conservatively":[27],"avoiding":[28],"collision":[29],"with":[30],"obstacles,":[32,90],"also":[33],"modelled":[34],"as":[35,48],"masses,":[38],"but":[39],"whose":[40],"trajectories":[41],"are":[42],"unknown.":[43],"The":[44,62],"problem":[45],"is":[46,57,65,99],"formulated":[47],"pursuit-evasion":[50],"differential":[51],"game,":[52,97],"and":[53,85],"underlying":[55],"construction":[56],"based":[58],"on":[59,82],"optimal":[60],"control.":[61],"algorithm,":[63],"variant":[67],"fast":[70],"marching":[71],"method":[72],"shortest":[74],"problems,":[76],"can":[77],"handle":[78],"general":[79],"dynamical":[80],"constraints":[81],"players":[84],"arbitrary":[86],"domain":[87],"geometry":[88],"(e.g.":[89],"non-polygonal":[91],"boundaries).":[92],"Applications":[93],"to":[94],"two-stage":[96],"capture-the-flag,":[98],"presented.":[100]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}