{"id":"https://openalex.org/W2967333821","doi":"https://doi.org/10.1109/icra.2019.8794009","title":"Online Multilayered Motion Planning with Dynamic Constraints for Autonomous Underwater Vehicles","display_name":"Online Multilayered Motion Planning with Dynamic Constraints for Autonomous Underwater Vehicles","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967333821","doi":"https://doi.org/10.1109/icra.2019.8794009","mag":"2967333821"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5065975878","display_name":"Eduard Vidal","orcid":"https://orcid.org/0000-0002-9524-9532"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduard Vidal","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), University of Girona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), University of Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061397940","display_name":"Mark Moll","orcid":"https://orcid.org/0000-0002-0451-2797"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Moll","raw_affiliation_strings":["Kavraki Lab, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kavraki Lab, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034154763","display_name":"Narc\u00eds Palomeras","orcid":"https://orcid.org/0000-0002-2266-9624"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Narc\u00eds Palomeras","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), University of Girona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), University of Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101609628","display_name":"Juan David Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9593-6789"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan David Hern\u00e1ndez","raw_affiliation_strings":["Kavraki Lab, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kavraki Lab, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018440853","display_name":"Marc Carreras","orcid":"https://orcid.org/0000-0003-3117-9691"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Marc Carreras","raw_affiliation_strings":["Underwater Robotics Research Center (CIRS), University of Girona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Center (CIRS), University of Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Kavraki Lab, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kavraki Lab, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6445,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.90014448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8936","last_page":"8942"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9965999722480774,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9872000217437744,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8954225778579712},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7116197943687439},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6648331880569458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6381440758705139},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6162734627723694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6128091812133789},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5656209588050842},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4625510573387146},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4352574646472931},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40236207842826843},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33351701498031616},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2919731140136719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2357598841190338},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09081387519836426}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8954225778579712},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7116197943687439},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6648331880569458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6381440758705139},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6162734627723694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6128091812133789},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5656209588050842},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4625510573387146},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4352574646472931},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40236207842826843},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33351701498031616},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2919731140136719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2357598841190338},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09081387519836426},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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":2,"locations":[{"id":"doi:10.1109/icra.2019.8794009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:138127","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/138127/1/Vidal%20et%20al.%20-%202019%20-%20Online%20Multilayered%20Motion%20Planning%20with%20Dynamic%20Constraints%20for%20Autonomous%20Underwater%20Vehicles.pdf","pdf_url":"https://orca.cardiff.ac.uk/id/eprint/138127/1/Vidal%20et%20al.%20-%202019%20-%20Online%20Multilayered%20Motion%20Planning%20with%20Dynamic%20Constraints%20for%20Autonomous%20Underwater%20Vehicles.pdf","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.5,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W177468924","https://openalex.org/W1484557735","https://openalex.org/W1586102543","https://openalex.org/W1742473997","https://openalex.org/W1764572413","https://openalex.org/W1777480005","https://openalex.org/W1946812513","https://openalex.org/W1971086298","https://openalex.org/W1979743043","https://openalex.org/W2033052486","https://openalex.org/W2054585537","https://openalex.org/W2113029345","https://openalex.org/W2132990760","https://openalex.org/W2138985552","https://openalex.org/W2145772536","https://openalex.org/W2156123119","https://openalex.org/W2160897436","https://openalex.org/W2167562394","https://openalex.org/W2167869989","https://openalex.org/W2171792626","https://openalex.org/W2414947275","https://openalex.org/W2492811885","https://openalex.org/W2561657681","https://openalex.org/W2587910283","https://openalex.org/W2604410735","https://openalex.org/W2794046143","https://openalex.org/W2951930445","https://openalex.org/W3026829485","https://openalex.org/W6684672043"],"related_works":["https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W804484174","https://openalex.org/W56933075","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680","https://openalex.org/W2897994211","https://openalex.org/W2978565045"],"abstract_inverted_index":{"Underwater":[0],"robots":[1],"are":[2,180],"subject":[3],"to":[4,19,40,73,106,116,152,183,219],"complex":[5],"hydro-dynamic":[6],"forces.":[7],"These":[8],"forces":[9],"define":[10],"how":[11],"the":[12,30,33,41,80,104,107,111,118,130,147,158,164,167,170,188,200,221],"vehicle":[13],"moves,":[14],"so":[15],"it":[16],"is":[17,37,59,71,114],"important":[18],"consider":[20],"them":[21],"when":[22],"planning":[23,28,52,67,81,140,189],"trajectories.":[24],"However,":[25],"performing":[26],"motion":[27,51,123],"considering":[29],"dynamics":[31],"on":[32,174],"robot's":[34],"onboard":[35],"computer":[36],"challenging":[38],"due":[39],"limited":[42],"computational":[43,143],"resources":[44,144],"available.":[45],"In":[46],"this":[47],"paper":[48],"an":[49],"efficient":[50],"framework":[53,70,197],"for":[54,85,138],"autonomous":[55],"underwater":[56,217],"vehicles":[57],"(AUVs)":[58],"presented.":[60],"By":[61,156],"introducing":[62],"a":[63,89,95,100,121,136,153,215],"loosely":[64],"coupled":[65],"multilayered":[66,165],"design,":[68],"our":[69,196,224],"able":[72],"generate":[74],"dynamically":[75],"feasible":[76],"trajectories":[77],"while":[78],"keeping":[79],"time":[82],"low":[83],"enough":[84],"online":[86,139],"planning.":[87],"First,":[88],"fast":[90],"path":[91,102,113],"planner":[92,172],"operating":[93],"in":[94],"lower-dimensional":[96],"projected":[97],"space":[98],"computes":[99],"lead":[101,112],"from":[103],"start":[105],"goal":[108],"configuration.":[109],"Then,":[110],"used":[115],"bias":[117],"sampling":[119,168],"of":[120,169,203,223],"second":[122,171],"planner,":[124],"which":[125],"takes":[126],"into":[127],"account":[128],"all":[129],"dynamic":[131],"constraints.":[132],"Furthermore,":[133],"we":[134,209],"propose":[135],"strategy":[137,161],"that":[141],"saves":[142],"by":[145],"generating":[146],"final":[148],"trajectory":[149],"only":[150],"up":[151],"finite":[154,159],"horizon.":[155],"using":[157,214],"horizon":[160],"together":[162],"with":[163],"approach,":[166],"focuses":[173],"regions":[175],"where":[176],"good":[177],"quality":[178],"solutions":[179],"more":[181],"likely":[182],"be":[184],"found,":[185],"significantly":[186],"reducing":[187],"time.":[190],"To":[191],"provide":[192],"strong":[193],"safety":[194],"guarantees":[195],"also":[198],"incorporates":[199],"conservative":[201],"approximations":[202],"inevitable":[204],"collision":[205],"states":[206],"(icss).":[207],"finally,":[208],"present":[210],"simulations":[211],"and":[212],"experiments":[213],"real":[216],"robot":[218],"demonstrate":[220],"capabilities":[222],"framework.":[225]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
