{"id":"https://openalex.org/W1990297170","doi":"https://doi.org/10.1109/iros.2014.6943150","title":"Time scaled collision cone based trajectory optimization approach for reactive planning in dynamic environments","display_name":"Time scaled collision cone based trajectory optimization approach for reactive planning in dynamic environments","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1990297170","doi":"https://doi.org/10.1109/iros.2014.6943150","mag":"1990297170"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5037619813","display_name":"Bharath Gopalakrishnan","orcid":"https://orcid.org/0000-0002-4385-1310"},"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":"Bharath Gopalakrishnan","raw_affiliation_strings":["IIIT-Hyderabad, Robotics Research Center, India","Robotics Research Center,IIIT-Hyderabad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT-Hyderabad, Robotics Research Center, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center,IIIT-Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"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":"Arun Kumar Singh","raw_affiliation_strings":["IIIT-Hyderabad, Robotics Research Center, India","Robotics Research Center,IIIT-Hyderabad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT-Hyderabad, Robotics Research Center, India","institution_ids":["https://openalex.org/I65181880"]},{"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":["IIIT-Hyderabad, Robotics Research Center, India","Robotics Research Center,IIIT-Hyderabad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT-Hyderabad, Robotics Research Center, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center,IIIT-Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"28","issue":null,"first_page":"4169","last_page":"4176"},"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":0.9864000082015991,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9810000061988831,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7700831890106201},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6849686503410339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5523263216018677},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5439403653144836},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5390559434890747},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5241425633430481},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4970569908618927},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.472371369600296},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4650149941444397},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4578624367713928},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43647801876068115},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4175351560115814},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3975452482700348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38232409954071045},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34178608655929565},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30853378772735596},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.17483118176460266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1461397111415863},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08701646327972412},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07332706451416016}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7700831890106201},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6849686503410339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5523263216018677},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5439403653144836},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5390559434890747},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5241425633430481},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4970569908618927},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.472371369600296},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4650149941444397},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4578624367713928},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43647801876068115},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4175351560115814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3975452482700348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38232409954071045},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34178608655929565},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30853378772735596},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.17483118176460266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1461397111415863},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08701646327972412},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07332706451416016},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6943150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W192919555","https://openalex.org/W1968478252","https://openalex.org/W1980402871","https://openalex.org/W2002440441","https://openalex.org/W2008837194","https://openalex.org/W2019965290","https://openalex.org/W2054149315","https://openalex.org/W2099893201","https://openalex.org/W2113029345","https://openalex.org/W2116819668","https://openalex.org/W2136947569","https://openalex.org/W2143217500","https://openalex.org/W2149716029","https://openalex.org/W2152512906","https://openalex.org/W2168424616","https://openalex.org/W4252673810"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905"],"abstract_inverted_index":{"The":[0,18,35,64,112,201],"current":[1,102,208],"paper":[2],"proposes":[3],"a":[4,10,30,137,154,162,229,292],"trajectory":[5,36,53,71,155],"optimization":[6,37,72,97,202],"approach":[7],"for":[8,40,79],"navigating":[9],"non-holonomic":[11],"wheeled":[12],"mobile":[13],"robot":[14],"in":[15,57,108,132,147,214],"dynamic":[16,19,166,287],"environments.":[17],"obstacle's":[20],"motion":[21],"is":[22,27,116,218],"not":[23],"known":[24],"and":[25,47,146,253,260],"hence":[26],"represented":[28],"by":[29],"band":[31],"of":[32,43,54,61,68,84,88,91,123,139,153,165,176,189,196,223,231,246,257,263,295],"predicted":[33,44,52,92],"trajectories.":[34,94,200],"can":[38,129],"account":[39],"large":[41,89],"number":[42,90],"obstacle":[45,56,93],"trajectories":[46],"seeks":[48],"to":[49,99,104,135,157,160,171,194,205,210],"avoid":[50,161],"each":[51],"every":[55],"the":[58,62,69,81,101,105,150,187,191,207,211,221,237,243,247,264,270,276],"sensing":[59],"range":[60],"robot.":[63],"two":[65],"primary":[66],"contributions":[67],"proposed":[70,121,248,277],"are":[73,250],"(1):":[74],"A":[75,96],"computationally":[76,251],"efficient":[77],"method":[78],"computing":[80,190],"intersection":[82,192],"space":[83,107,114,175,193,213],"collision":[85,126,179],"avoidance":[86],"constraints":[87],"(2):":[95],"framework":[98,203,249],"connect":[100,206],"state":[103,209,262],"solution":[106,174,212],"time":[109,124,177,215,225],"optimal":[110,216],"fashion.":[111],"intersection/solution":[113],"computation":[115],"build":[117],"on":[118,220,236],"our":[119],"earlier":[120],"concept":[122,222],"scaled":[125,178],"cone,":[127],"which":[128,227,285],"be":[130,158],"solved":[131],"closed":[133],"form":[134,233],"obtain":[136],"set":[138,164],"formulae.":[140],"These":[141],"formulae":[142],"describe":[143],"how":[144],"much":[145],"what":[148],"manner":[149],"temporal":[151],"specification":[152],"needs":[156],"changed":[159],"given":[163],"obstacles.":[167],"This":[168],"allows":[169],"us":[170],"quickly":[172],"evaluate":[173],"cone":[180],"over":[181,291],"various":[182,244],"candidate":[183],"trajectories,":[184],"thus":[185],"reducing":[186],"problem":[188],"that":[195,242,275],"generating":[197],"multiple":[198],"homotopic":[199],"used":[204],"fashion":[217],"based":[219,283],"non-linear":[224],"scaling,":[226],"induces":[228],"difference":[230],"convex":[232,266],"structure.":[234],"Thus,":[235],"theoretical":[238],"side,":[239],"we":[240,273],"show":[241,274],"components":[245],"simple":[252],"involves":[254],"solving":[255],"sets":[256],"linear":[258],"equations":[259],"using":[261],"art":[265],"programming":[267],"techniques.":[268],"On":[269],"practical":[271],"side":[272],"planner":[278],"performs":[279],"better":[280],"than":[281],"sampling":[282],"planners":[284],"treat":[286],"obstacles":[288],"as":[289],"static":[290],"short":[293],"duration":[294],"time.":[296]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}