{"id":"https://openalex.org/W3090845865","doi":"https://doi.org/10.1109/icra40945.2020.9197092","title":"Bi-Convex Approximation of Non-Holonomic Trajectory Optimization","display_name":"Bi-Convex Approximation of Non-Holonomic Trajectory Optimization","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090845865","doi":"https://doi.org/10.1109/icra40945.2020.9197092","mag":"3090845865"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":true,"raw_author_name":"Arun Kumar Singh","raw_affiliation_strings":["Institute of Technology, University of Tartu"],"affiliations":[{"raw_affiliation_string":"Institute of Technology, University of Tartu","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080544961","display_name":"Raghu Ram Theerthala","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Raghu Ram Theerthala","raw_affiliation_strings":["Robotics Research Center, IIIT-Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT-Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075175853","display_name":"Mithun Babu","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mithun Babu","raw_affiliation_strings":["Robotics Research Center, IIIT-Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT-Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088577409","display_name":"Unni Krishnan R Nair","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Unni Krishnan R Nair","raw_affiliation_strings":["Robotics Research Center, IIIT-Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT-Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["Robotics Research Center, IIIT-Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, IIIT-Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083895630"],"corresponding_institution_ids":["https://openalex.org/I56085075"],"apc_list":null,"apc_paid":null,"fwci":0.6839,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72171809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"238","issue":null,"first_page":"476","last_page":"482"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9929999709129333,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9746000170707703,"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/holonomic","display_name":"Holonomic","score":0.7487450242042542},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6745152473449707},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.640401303768158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52546226978302},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.47050970792770386},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.46936848759651184},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.44987618923187256},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39984482526779175},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3673877716064453},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3468445837497711},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33563682436943054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09022295475006104}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7487450242042542},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6745152473449707},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.640401303768158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52546226978302},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.47050970792770386},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.46936848759651184},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.44987618923187256},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39984482526779175},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3673877716064453},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3468445837497711},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33563682436943054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09022295475006104},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/icra40945.2020.9197092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W167756786","https://openalex.org/W1592601589","https://openalex.org/W1998084866","https://openalex.org/W2044666243","https://openalex.org/W2123871098","https://openalex.org/W2142224528","https://openalex.org/W2158902838","https://openalex.org/W2159307101","https://openalex.org/W2162991084","https://openalex.org/W2164278908","https://openalex.org/W2221524898","https://openalex.org/W2318460484","https://openalex.org/W2729776805","https://openalex.org/W2733936308","https://openalex.org/W2757070887","https://openalex.org/W2772283936","https://openalex.org/W2945117139","https://openalex.org/W2964159790","https://openalex.org/W3005347330","https://openalex.org/W3046566111","https://openalex.org/W3124367822","https://openalex.org/W4285719527","https://openalex.org/W4292363360","https://openalex.org/W6761899565","https://openalex.org/W6773842061"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2055233249","https://openalex.org/W2943251607","https://openalex.org/W2077643751","https://openalex.org/W963545523","https://openalex.org/W2003479292","https://openalex.org/W3135469233","https://openalex.org/W3153752017","https://openalex.org/W2997189060","https://openalex.org/W4395060245"],"abstract_inverted_index":{"Autonomous":[0],"cars":[1],"and":[2,31,56,102,164,167],"fixed-wing":[3],"aerial":[4],"vehicles":[5],"have":[6],"the":[7,38,72,77,80,88,99,109,112,124,133,149,154,179,184,193],"so-called":[8],"non-holonomic":[9,42,73,89],"kinematics":[10],"which":[11],"non-linearly":[12],"maps":[13],"control":[14],"input":[15],"to":[16,108,189],"states.":[17],"As":[18],"a":[19,25,51,61,69,117,139],"result,":[20],"trajectory":[21,43,74,130],"optimization":[22,44,75],"with":[23,60,116,123,173],"such":[24],"motion":[26],"model":[27],"becomes":[28],"highly":[29],"non-linear":[30,62,114,142],"non-convex.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36],"improve":[37],"computational":[39],"tractability":[40],"of":[41,50,53,79,111,141],"by":[45],"reformulating":[46],"it":[47,105,170],"in":[48,201],"terms":[49],"set":[52],"bi-convex":[54,65,150],"cost":[55,126,177],"constraint":[57],"functions":[58,127],"along":[59],"penalty.":[63],"The":[64],"part":[66],"acts":[67],"as":[68,178,187],"relaxation":[70],"for":[71,97,144],"while":[76,147,181],"residual":[78],"penalty":[81,115],"dictates":[82],"how":[83],"well":[84],"its":[85],"output":[86],"obeys":[87],"behavior.":[90],"We":[91,152],"adopt":[92],"an":[93],"alternating":[94],"minimization":[95],"approach":[96],"solving":[98],"reformulated":[100],"problem":[101],"show":[103,168],"that":[104,169],"naturally":[106],"leads":[107],"replacement":[110],"challenging":[113],"globally":[118],"valid":[119],"convex":[120],"surrogate.":[121],"Along":[122],"common":[125],"modeling":[128,145],"goal-reaching,":[129],"smoothness,":[131],"etc.,":[132],"proposed":[134,155,194],"optimizer":[135,156,195],"can":[136],"also":[137],"accommodate":[138],"class":[140],"costs":[143],"goal-sets,":[146],"retaining":[148],"structure.":[151],"benchmark":[153],"against":[157],"off-the-shelf":[158,191],"solvers":[159],"implementing":[160],"sequential":[161],"quadratic":[162],"programming":[163],"interior-point":[165],"methods":[166],"produces":[171],"solutions":[172],"similar":[174],"or":[175],"better":[176],"former":[180],"significantly":[182],"outperforming":[183],"latter.":[185],"Furthermore,":[186],"compared":[188],"both":[190],"solvers,":[192],"achieves":[196],"more":[197],"than":[198],"20x":[199],"reduction":[200],"computation":[202],"time.":[203]},"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}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}