{"id":"https://openalex.org/W2524752696","doi":"https://doi.org/10.1109/iros.2016.7759230","title":"Ballistic motion planning","display_name":"Ballistic motion planning","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2524752696","doi":"https://doi.org/10.1109/iros.2016.7759230","mag":"2524752696"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01288796/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069690029","display_name":"Myl\u00e8ne Campana","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mylene Campana","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ. de Toulouse, LAAS, Toulouse, France","UT3 - Universit\u00e9 Toulouse III - Paul Sabatier (118 route de Narbonne - 31062 Toulouse - France)","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ. de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"UT3 - Universit\u00e9 Toulouse III - Paul Sabatier (118 route de Narbonne - 31062 Toulouse - France)","institution_ids":["https://openalex.org/I134560555"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108497455","display_name":"Jean\u2010Paul Laumond","orcid":null},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Paul Laumond","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ. de Toulouse, LAAS, Toulouse, France","CNRS - Centre National de la Recherche Scientifique (France)","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ. de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"CNRS - Centre National de la Recherche Scientifique (France)","institution_ids":["https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069690029"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":1.1851,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.85602874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1410","last_page":"1416"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T12290","display_name":"Human Motion and Animation","score":0.9944000244140625,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7683951258659363},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.6082675457000732},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.4601896405220032},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4406956136226654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42194443941116333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39397186040878296},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3649512827396393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3604070544242859},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.32237890362739563},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2679433822631836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2278040051460266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18112340569496155}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7683951258659363},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.6082675457000732},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.4601896405220032},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4406956136226654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42194443941116333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39397186040878296},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3649512827396393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3604070544242859},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.32237890362739563},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2679433822631836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2278040051460266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18112340569496155},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01288796v2","is_oa":true,"landing_page_url":"https://hal.science/hal-01288796","pdf_url":"https://hal.science/hal-01288796/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iros2016.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01288796v2","is_oa":true,"landing_page_url":"https://hal.science/hal-01288796","pdf_url":"https://hal.science/hal-01288796/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iros2016.org/","raw_type":"Conference papers"},"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2524752696.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1495450524","https://openalex.org/W1555158399","https://openalex.org/W1968294545","https://openalex.org/W2028073245","https://openalex.org/W2032006356","https://openalex.org/W2048118595","https://openalex.org/W2053710578","https://openalex.org/W2061063863","https://openalex.org/W2081102615","https://openalex.org/W2113350179","https://openalex.org/W2126540418","https://openalex.org/W2128990851","https://openalex.org/W2139093517","https://openalex.org/W2150254439","https://openalex.org/W2151402824","https://openalex.org/W2158970477","https://openalex.org/W2161819990","https://openalex.org/W2403968758","https://openalex.org/W2460299708","https://openalex.org/W2645793119","https://openalex.org/W3010413811","https://openalex.org/W3104753760","https://openalex.org/W4242811155","https://openalex.org/W6657181258"],"related_works":["https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2005824415","https://openalex.org/W2997803326","https://openalex.org/W2021013972","https://openalex.org/W2019286687","https://openalex.org/W2054858771","https://openalex.org/W3176430321","https://openalex.org/W2394269979"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,39,65,82,92,132,135],"motion":[4,17,74,93],"planning":[5],"problem":[6,84],"of":[7,33,38,67,134],"a":[8,15,31,77,86,105,121],"jumping":[9],"point-robot.":[10],"Each":[11],"jump":[12,106],"consists":[13],"in":[14,21,76],"ballistic":[16,73],"linking":[18],"two":[19,109],"positions":[20],"contact":[22,47,110],"with":[23],"obstacle":[24],"surfaces.":[25],"A":[26],"solution":[27,96],"path":[28,107],"is":[29,41,51,70,118,128],"thus":[30],"sequence":[32],"parabola":[34],"arcs.":[35],"The":[36,72,95,116],"originality":[37],"approach":[40],"to":[42,60,99],"consider":[43],"non-sliding":[44],"constraints":[45],"at":[46],"points:":[48],"slipping":[49],"avoidance":[50],"handled":[52],"by":[53],"constraining":[54],"takeoff":[55],"and":[56],"landing":[57],"velocity":[58],"vectors":[59],"3D":[61,83],"friction":[62],"cones.":[63],"Furthermore":[64],"magnitude":[66],"these":[68],"velocities":[69],"bounded.":[71],"lying":[75],"vertical":[78],"plane,":[79],"we":[80],"transform":[81],"into":[85,120],"2D":[87],"one.":[88],"We":[89],"then":[90],"solve":[91],"equations.":[94],"gives":[97],"rise":[98],"an":[100],"exact":[101],"steering":[102],"method":[103,117],"computing":[104],"between":[108],"points":[111],"while":[112],"respecting":[113],"all":[114],"constraints.":[115],"integrated":[119],"standard":[122],"probabilistic":[123],"roadmap":[124],"planner.":[125],"Probabilistic":[126],"completeness":[127],"proven.":[129],"Simulations":[130],"illustrate":[131],"performance":[133],"approach.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}
