{"id":"https://openalex.org/W4312745495","doi":"https://doi.org/10.1109/iros47612.2022.9981961","title":"Motion Planning by Search in Derivative Space and Convex Optimization with Enlarged Solution Space","display_name":"Motion Planning by Search in Derivative Space and Convex Optimization with Enlarged Solution Space","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312745495","doi":"https://doi.org/10.1109/iros47612.2022.9981961"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981961","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100679362","display_name":"Jialun Li","orcid":"https://orcid.org/0000-0003-0941-9820"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jialun Li","raw_affiliation_strings":["Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,The Department of Automation,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,The Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102032632","display_name":"Xiaojia Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaojia Xie","raw_affiliation_strings":["Megvii (Face++) Technology Inc.,Beijing,China","Megvii (Face++) Technology Inc., Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Megvii (Face++) Technology Inc.,Beijing,China","institution_ids":[]},{"raw_affiliation_string":"Megvii (Face++) Technology Inc., Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103249328","display_name":"Qin Lin","orcid":"https://orcid.org/0000-0002-5703-9112"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qin Lin","raw_affiliation_strings":["Cleveland State University,The Electrical Engineering and Computer Science Department,Cleveland,OH,USA","The Electrical Engineering and Computer Science Department, Cleveland State University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University,The Electrical Engineering and Computer Science Department,Cleveland,OH,USA","institution_ids":["https://openalex.org/I102607778"]},{"raw_affiliation_string":"The Electrical Engineering and Computer Science Department, Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004668792","display_name":"Jianping He","orcid":"https://orcid.org/0000-0002-6253-7802"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianping He","raw_affiliation_strings":["Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,The Department of Automation,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing, Ministry of Education of China,The Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100679362"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.7157,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79720329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13500","last_page":"13507"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/mathematical-optimization","display_name":"Mathematical optimization","score":0.7331161499023438},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6909661293029785},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6214599013328552},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5929888486862183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5484786629676819},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5269870758056641},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.49615105986595154},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4794851243495941},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4793582558631897},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.4432339668273926},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.43296271562576294},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4284302592277527},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4201495051383972},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36954301595687866},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2693479359149933},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14321023225784302},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13621291518211365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13105851411819458}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7331161499023438},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6909661293029785},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6214599013328552},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5929888486862183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5484786629676819},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5269870758056641},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.49615105986595154},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4794851243495941},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4793582558631897},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.4432339668273926},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.43296271562576294},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4284302592277527},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4201495051383972},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36954301595687866},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2693479359149933},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14321023225784302},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13621291518211365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13105851411819458},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981961","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G6192547242","display_name":null,"funder_award_id":"61973218","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2005354226","https://openalex.org/W2148361676","https://openalex.org/W2294480821","https://openalex.org/W2512991991","https://openalex.org/W2518885560","https://openalex.org/W2740508249","https://openalex.org/W2740607401","https://openalex.org/W2769646558","https://openalex.org/W2884634491","https://openalex.org/W2891491652","https://openalex.org/W2911846823","https://openalex.org/W2962787639","https://openalex.org/W2963215357","https://openalex.org/W2989788282","https://openalex.org/W3101798601","https://openalex.org/W3116367434","https://openalex.org/W3131966680","https://openalex.org/W3196496175","https://openalex.org/W4280614115","https://openalex.org/W4312745495","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W4381746183","https://openalex.org/W2975575631"],"abstract_inverted_index":{"To":[0],"efficiently":[1],"generate":[2],"safe":[3],"trajectories":[4],"for":[5,73,95],"an":[6,85],"autonomous":[7],"vehicle":[8],"in":[9,46,49,69,136],"dynamic":[10,35],"environments,":[11],"a":[12,39,50,67,75,91,98],"layered":[13],"motion":[14],"planning":[15,22],"method":[16],"with":[17,34,104,120],"decoupled":[18],"path":[19],"and":[20,53,59,83,113,130],"speed":[21,29],"is":[23,87,107],"widely":[24],"used.":[25],"This":[26],"paper":[27],"studies":[28],"planning,":[30],"which":[31,109],"mainly":[32],"deals":[33],"obstacle":[36],"avoidance":[37],"given":[38],"planned":[40],"path.":[41],"The":[42],"main":[43],"challenges":[44],"lie":[45],"the":[47,54,116,121,128,133],"optimization":[48,102],"non-convex":[51],"space":[52,72,94,118],"trade-off":[55],"between":[56],"safety,":[57],"comfort,":[58],"efficiency.":[60],"First,":[61],"this":[62],"work":[63],"proposes":[64],"to":[65,89],"conduct":[66],"search":[68],"second-order":[70],"derivative":[71],"generating":[74],"comfort-optimal":[76],"reference":[77],"trajectory.":[78],"Second,":[79],"by":[80],"combining":[81],"abstraction":[82],"refinement,":[84],"algorithm":[86],"proposed":[88,134],"construct":[90],"convex":[92],"feasible":[93],"optimization.":[96],"Finally,":[97],"piecewise":[99],"B\u00e9zier":[100],"polynomial":[101],"approach":[103,135],"trapezoidal":[105],"corridors":[106],"presented,":[108],"theoretically":[110],"guarantees":[111],"safety":[112],"significantly":[114],"enlarges":[115],"solution":[117],"compared":[119],"existing":[122],"rectangular":[123],"corridors-based":[124],"approach.":[125],"We":[126],"validate":[127],"efficiency":[129],"effectiveness":[131],"of":[132],"simulations.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}