{"id":"https://openalex.org/W4401413891","doi":"https://doi.org/10.1109/icra57147.2024.10610158","title":"Safe Receding Horizon Motion Planning with Infinitesimal Update Interval","display_name":"Safe Receding Horizon Motion Planning with Infinitesimal Update Interval","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413891","doi":"https://doi.org/10.1109/icra57147.2024.10610158"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5006359565","display_name":"Inkyu Jang","orcid":"https://orcid.org/0000-0002-5107-446X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Inkyu Jang","raw_affiliation_strings":["Seoul National University,Department of Aerospace Engineering, and Automation and Systems Research Institute (ASRI),Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Aerospace Engineering, and Automation and Systems Research Institute (ASRI),Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019871885","display_name":"Sunwoo Hwang","orcid":"https://orcid.org/0009-0003-8281-5157"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sunwoo Hwang","raw_affiliation_strings":["Seoul National University,Department of Aerospace Engineering, and Automation and Systems Research Institute (ASRI),Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Aerospace Engineering, and Automation and Systems Research Institute (ASRI),Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050201316","display_name":"Jeonghyun Byun","orcid":"https://orcid.org/0000-0001-7937-8564"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonghyun Byun","raw_affiliation_strings":["Seoul National University,Department of Aerospace Engineering, and Automation and Systems Research Institute (ASRI),Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Aerospace Engineering, and Automation and Systems Research Institute (ASRI),Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Seoul National University,Department of Aerospace Engineering, and Interdisciplinary Program in Artificial Intelligence (IPAI),Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Aerospace Engineering, and Interdisciplinary Program in Artificial Intelligence (IPAI),Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006359565"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.5248,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64718849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"14244","last_page":"14250"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/T12158","display_name":"Guidance and Control Systems","score":0.9979000091552734,"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/infinitesimal","display_name":"Infinitesimal","score":0.7666932344436646},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.6385194659233093},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6152357459068298},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5798874497413635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5141380429267883},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.436271607875824},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42852532863616943},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3268912434577942},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2958374619483948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20306307077407837},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1334857940673828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12973827123641968},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12617993354797363},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.0695314109325409}],"concepts":[{"id":"https://openalex.org/C91229774","wikidata":"https://www.wikidata.org/wiki/Q193885","display_name":"Infinitesimal","level":2,"score":0.7666932344436646},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.6385194659233093},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6152357459068298},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5798874497413635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5141380429267883},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.436271607875824},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42852532863616943},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3268912434577942},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2958374619483948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20306307077407837},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1334857940673828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12973827123641968},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12617993354797363},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0695314109325409},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/13","score":0.6100000143051147,"display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2525042068","https://openalex.org/W2560504659","https://openalex.org/W2769646558","https://openalex.org/W2899087494","https://openalex.org/W2911477000","https://openalex.org/W2962822210","https://openalex.org/W2963606896","https://openalex.org/W2963995490","https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W3024987186","https://openalex.org/W3081975785","https://openalex.org/W3101144081","https://openalex.org/W3101798601","https://openalex.org/W3110370454","https://openalex.org/W3119862069","https://openalex.org/W3128605830","https://openalex.org/W3131580247","https://openalex.org/W3143034939","https://openalex.org/W3209325542","https://openalex.org/W4206266546","https://openalex.org/W4292263218","https://openalex.org/W4352977012","https://openalex.org/W4381785675","https://openalex.org/W4390591081","https://openalex.org/W4391892446"],"related_works":["https://openalex.org/W2370598571","https://openalex.org/W2355499472","https://openalex.org/W2349230259","https://openalex.org/W2370818987","https://openalex.org/W2350226651","https://openalex.org/W2361379965","https://openalex.org/W2385204246","https://openalex.org/W2385510272","https://openalex.org/W2348667803","https://openalex.org/W2978209880"],"abstract_inverted_index":{"Safety":[0],"verification":[1],"in":[2,14,43,65,111,127],"motion":[3,27],"planning":[4],"is":[5,49,87,103,121],"known":[6],"to":[7,40],"be":[8,77],"computationally":[9],"burdensome,":[10],"despite":[11],"its":[12],"importance":[13],"robotics.":[15],"In":[16],"this":[17],"paper,":[18],"we":[19],"investigate":[20],"the":[21,30,37,45,92,96,118],"behavior":[22],"of":[23,61,95,123,132],"safe":[24,73,125],"receding":[25],"horizon":[26],"planners":[28],"when":[29],"update":[31],"interval":[32],"becomes":[33],"infinitesimal.":[34],"By":[35],"requiring":[36],"trajectory":[38,46],"parameters":[39],"evolve":[41],"continuously":[42],"time,":[44],"optimization":[47],"problem":[48,69],"reformulated":[50],"into":[51],"a":[52,66,80,107],"time-derivative":[53],"form,":[54],"whose":[55],"decision":[56],"variables":[57],"are":[58],"their":[59],"rate":[60],"change.":[62],"This":[63],"results":[64],"quadratic":[67],"programming":[68],"which":[70],"directly":[71],"provides":[72],"input,":[74],"and":[75],"can":[76],"regarded":[78],"as":[79],"real-time":[81],"safety":[82,101,119],"filter.":[83],"The":[84,99,114],"input":[85],"expressivity":[86],"also":[88],"enhanced":[89],"by":[90],"leveraging":[91],"differentiable":[93],"structure":[94],"parameter":[97],"space.":[98],"proposed":[100],"filter":[102,120],"experimentally":[104],"validated":[105],"using":[106],"wheeled":[108],"ground":[109],"robot":[110],"obstacle-cluttered":[112],"environments.":[113],"result":[115],"shows":[116],"that":[117],"capable":[122],"generating":[124],"inputs":[126],"real-time,":[128],"while":[129],"addressing":[130],"hundreds":[131],"constraints":[133],"simultaneously.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}