{"id":"https://openalex.org/W3048886332","doi":"https://doi.org/10.1109/iros45743.2020.9341283","title":"Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots","display_name":"Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3048886332","doi":"https://doi.org/10.1109/iros45743.2020.9341283","mag":"3048886332"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.05112","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006931357","display_name":"Jacob J. Johnson","orcid":"https://orcid.org/0000-0002-4950-4045"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jacob J. Johnson","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California\u2014San Diego"],"affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California\u2014San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101513434","display_name":"Linjun Li","orcid":"https://orcid.org/0000-0002-2734-0414"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Linjun Li","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California\u2014San Diego"],"affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California\u2014San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100394604","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0002-1541-501X"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California\u2014San Diego"],"affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California\u2014San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056336556","display_name":"Ahmed H. Qureshi","orcid":"https://orcid.org/0000-0003-2104-2333"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmed H. Qureshi","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California\u2014San Diego"],"affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California\u2014San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["University of California San Diego, La Jolla, CA, USA","University of California\u2014San Diego"],"affiliations":[{"raw_affiliation_string":"University of California San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California\u2014San Diego","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006931357"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.1963,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49762324,"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":"6937","last_page":"6943"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.8148365616798401},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7503493428230286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7449675798416138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6787726879119873},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5690410733222961},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5062174201011658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5049386620521545},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3577802777290344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19679605960845947},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06658220291137695}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8148365616798401},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7503493428230286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7449675798416138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6787726879119873},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5690410733222961},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5062174201011658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5049386620521545},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3577802777290344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19679605960845947},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06658220291137695},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2008.05112","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.05112","pdf_url":"https://arxiv.org/pdf/2008.05112","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2008.05112","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.05112","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3048886332","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.05112","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.05112","pdf_url":"https://arxiv.org/pdf/2008.05112","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3048886332.pdf","grobid_xml":"https://content.openalex.org/works/W3048886332.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W116433242","https://openalex.org/W131069610","https://openalex.org/W163279865","https://openalex.org/W1558979968","https://openalex.org/W1631623342","https://openalex.org/W1633338931","https://openalex.org/W1756618330","https://openalex.org/W1959608418","https://openalex.org/W2000194319","https://openalex.org/W2005354226","https://openalex.org/W2095705004","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2117211893","https://openalex.org/W2123871098","https://openalex.org/W2145339207","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2313274380","https://openalex.org/W2774451424","https://openalex.org/W2889734357","https://openalex.org/W2893359011","https://openalex.org/W2894417726","https://openalex.org/W2902241648","https://openalex.org/W2962917939","https://openalex.org/W2963019567","https://openalex.org/W2963568027","https://openalex.org/W2963572779","https://openalex.org/W2967969632","https://openalex.org/W2970971581","https://openalex.org/W3047385205","https://openalex.org/W4302436361","https://openalex.org/W6605295560","https://openalex.org/W6640963894","https://openalex.org/W6651853181","https://openalex.org/W6674330103","https://openalex.org/W6684191040","https://openalex.org/W6755160885","https://openalex.org/W6765807879","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W3129762237","https://openalex.org/W2740589700","https://openalex.org/W305502212","https://openalex.org/W2154994461","https://openalex.org/W1577854728","https://openalex.org/W2119139459","https://openalex.org/W2800532881","https://openalex.org/W2958046485","https://openalex.org/W62909004","https://openalex.org/W2137841609","https://openalex.org/W3088197938","https://openalex.org/W1546814349","https://openalex.org/W1999839266","https://openalex.org/W1982569142","https://openalex.org/W3186806860","https://openalex.org/W1996982349","https://openalex.org/W1791829613","https://openalex.org/W2785989862","https://openalex.org/W2003835006","https://openalex.org/W2542392056"],"abstract_inverted_index":{"Reliable":[0],"real-time":[1,56,78],"planning":[2,58,62,71,79,98],"for":[3,27,48,77,97,100,109],"robots":[4,50],"is":[5],"essential":[6],"in":[7,95],"today's":[8],"rapidly":[9],"expanding":[10],"automated":[11],"ecosystem.":[12],"In":[13],"such":[14],"environments,":[15],"traditional":[16],"methods":[17],"that":[18,51,73],"plan":[19],"by":[20],"relaxing":[21],"constraints":[22],"become":[23],"unreliable":[24],"or":[25],"slow-down":[26],"kinematically":[28],"constrained":[29],"robots.":[30],"This":[31],"paper":[32],"describes":[33],"the":[34,53,68,82],"algorithm":[35],"Dynamic":[36],"Motion":[37,45],"Planning":[38,46],"Networks":[39],"(Dynamic":[40],"MPNet),":[41],"an":[42,110],"extension":[43],"to":[44,67],"Networks,":[47],"non-holonomic":[49,102],"address":[52],"challenge":[54],"of":[55,85],"motion":[57],"using":[59,114],"a":[60,101,115],"neural":[61],"approach.":[63],"We":[64,91,104],"propose":[65],"modifications":[66],"training":[69,86],"and":[70,87],"networks":[72],"make":[74],"it":[75],"possible":[76],"while":[80],"improving":[81],"data":[83],"efficiency":[84],"trained":[88],"models'":[89],"generalizability.":[90],"evaluate":[92],"our":[93],"model":[94],"simulation":[96],"tasks":[99],"robot.":[103],"also":[105],"demonstrate":[106],"experimental":[107],"results":[108],"indoor":[111],"navigation":[112],"task":[113],"Dubins":[116],"car.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}