{"id":"https://openalex.org/W2130774864","doi":"https://doi.org/10.1109/iros.2007.4399520","title":"A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online","display_name":"A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2130774864","doi":"https://doi.org/10.1109/iros.2007.4399520","mag":"2130774864"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"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":"K.E. Bekris","raw_affiliation_strings":["Computer Science Department, Rice University, Houston, TX, USA","[Rice Univ., Houston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"[Rice Univ., Houston]","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014556542","display_name":"Konstantinos I. Tsianos","orcid":null},"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":"K.I. Tsianos","raw_affiliation_strings":["Computer Science Department, Rice University, Houston, TX, USA","[Rice Univ., Houston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"[Rice Univ., Houston]","institution_ids":["https://openalex.org/I74775410"]}]},{"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":"L.E. Kavraki","raw_affiliation_strings":["Computer Science Department, Rice University, Houston, TX, USA","[Rice Univ., Houston]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"[Rice Univ., Houston]","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3784","last_page":"3790"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/planner","display_name":"Planner","score":0.8163187503814697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7037906646728516},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6904057860374451},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6748825907707214},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6535530686378479},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.589126467704773},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5762697458267212},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5391329526901245},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5268584489822388},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46841612458229065},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4623613953590393},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4495580792427063},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.44518372416496277},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43133386969566345},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4159139394760132},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3924173414707184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3273366689682007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2292986810207367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21059250831604004},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.133743554353714},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09535598754882812}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8163187503814697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7037906646728516},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6904057860374451},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6748825907707214},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6535530686378479},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.589126467704773},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5762697458267212},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5391329526901245},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5268584489822388},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46841612458229065},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4623613953590393},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4495580792427063},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.44518372416496277},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43133386969566345},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4159139394760132},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3924173414707184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3273366689682007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2292986810207367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21059250831604004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.133743554353714},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09535598754882812},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2007.4399520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.133.7823","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.133.7823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rice.edu/~bekris/personal/papers/bekris_decentralized.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.637.5612","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.637.5612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kavrakilab.org/sites/default/files/bekris_tsianos_iros07.pdf","raw_type":"text"},{"id":"pmh:oai:alma.01RUT_INST:11665011360004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/conferenceProceeding/A-decentralized-planner-that-guarantees-the/991031665748504646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W87278644","https://openalex.org/W1536373029","https://openalex.org/W1778789447","https://openalex.org/W1962422981","https://openalex.org/W1979743043","https://openalex.org/W1996485761","https://openalex.org/W2000359213","https://openalex.org/W2036016432","https://openalex.org/W2070224057","https://openalex.org/W2084787698","https://openalex.org/W2099593662","https://openalex.org/W2101033030","https://openalex.org/W2104186994","https://openalex.org/W2108643443","https://openalex.org/W2111112078","https://openalex.org/W2136035407","https://openalex.org/W2137952598","https://openalex.org/W2167869989","https://openalex.org/W2399501438","https://openalex.org/W4244746191","https://openalex.org/W6603520242","https://openalex.org/W6674861906","https://openalex.org/W6679894463","https://openalex.org/W6684672043","https://openalex.org/W6713241665"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W4381746183","https://openalex.org/W2120267624"],"abstract_inverted_index":{"This":[0],"paper":[1,71],"considers":[2],"the":[3,15,38,41,77,116],"problem":[4],"of":[5,50,69,105],"coordinating":[6],"multiple":[7],"vehicles":[8,20,42,98],"with":[9,37,55,80,127,136,148],"kinodynamic":[10,140],"constraints":[11,79],"that":[12,59,86,96,110],"operate":[13],"in":[14,115],"same":[16],"partially-known":[17],"environment.":[18],"The":[19,67,119],"are":[21],"able":[22],"to":[23,31,73,99,146],"communicate":[24,147],"within":[25],"limited":[26],"range.":[27],"Their":[28],"objective":[29],"is":[30,58,72],"avoid":[32],"collisions":[33],"between":[34],"them":[35],"and":[36,101,108,143],"obstacles,":[39],"while":[40],"move":[43],"towards":[44],"their":[45],"goals.":[46],"An":[47],"important":[48],"issue":[49],"real-time":[51],"planning":[52,84],"for":[53],"systems":[54],"bounded":[56],"acceleration":[57],"inevitable":[60],"collision":[61],"states":[62],"must":[63],"also":[64,124],"be":[65],"avoided.":[66],"focus":[68],"this":[70,111],"guarantee":[74],"safety":[75],"despite":[76],"dynamic":[78],"a":[81,93,128,137],"decentralized":[82],"motion":[83,141],"technique":[85],"employs":[87],"only":[88],"local":[89],"information.":[90],"We":[91],"propose":[92],"coordination":[94],"framework":[95],"allows":[97],"generate":[100],"select":[102],"compatible":[103],"sets":[104],"valid":[106],"trajectories":[107],"prove":[109],"scheme":[112],"guarantees":[113],"collision-avoidance":[114],"specified":[117],"setup.":[118],"theoretical":[120],"results":[121],"have":[122],"been":[123],"experimentally":[125],"confirmed":[126],"distributed":[129],"simulator":[130],"where":[131],"each":[132],"vehicle":[133],"replans":[134],"online":[135],"sampling-":[138],"based,":[139],"planner":[142],"uses":[144],"message-passing":[145],"neighboring":[149],"agents.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
