{"id":"https://openalex.org/W4416750898","doi":"https://doi.org/10.1109/iros60139.2025.11245952","title":"ESCoT: An Enhanced Step-based Coordinate Trajectory Planning Method for Multiple Car-like Robots","display_name":"ESCoT: An Enhanced Step-based Coordinate Trajectory Planning Method for Multiple Car-like Robots","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750898","doi":"https://doi.org/10.1109/iros60139.2025.11245952"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101993415","display_name":"Junkai Jiang","orcid":"https://orcid.org/0009-0002-8059-1420"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junkai Jiang","raw_affiliation_strings":["Tsinghua University,School of Vehicle and Mobility,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107749948","display_name":"Yihe Chen","orcid":"https://orcid.org/0009-0005-0554-7456"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihe Chen","raw_affiliation_strings":["Tsinghua University,School of Vehicle and Mobility,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101371695","display_name":"Yibin Yang","orcid":"https://orcid.org/0009-0007-2094-2555"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Yang","raw_affiliation_strings":["Tsinghua University,School of Vehicle and Mobility,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102720427","display_name":"Ruochen Li","orcid":"https://orcid.org/0009-0005-6161-0042"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruochen Li","raw_affiliation_strings":["Tsinghua University,School of Vehicle and Mobility,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011184498","display_name":"Shaobing Xu","orcid":"https://orcid.org/0000-0002-4127-2411"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaobing Xu","raw_affiliation_strings":["Tsinghua University,School of Vehicle and Mobility,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100436368","display_name":"Jianqiang Wang","orcid":"https://orcid.org/0000-0003-4363-6108"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Wang","raw_affiliation_strings":["Tsinghua University,School of Vehicle and Mobility,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4279407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10548","last_page":"10555"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9764000177383423,"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":0.9764000177383423,"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":0.005799999926239252,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0017999999690800905,"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":0.7663000226020813},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.7032999992370605},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.7028999924659729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6453999876976013},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5533000230789185},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.38359999656677246}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7663000226020813},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.7032999992370605},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.7028999924659729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6523000001907349},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6453999876976013},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5533000230789185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42179998755455017},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.34380000829696655},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30559998750686646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30090001225471497},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.29010000824928284},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25699999928474426},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25679999589920044}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322271","display_name":"Science Fund for Creative Research Groups","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1488757178","https://openalex.org/W1489244333","https://openalex.org/W1996183429","https://openalex.org/W2081631327","https://openalex.org/W2579364800","https://openalex.org/W2799899844","https://openalex.org/W2912551019","https://openalex.org/W2914864020","https://openalex.org/W2961490290","https://openalex.org/W2964997335","https://openalex.org/W2972941110","https://openalex.org/W3095606244","https://openalex.org/W3112239567","https://openalex.org/W3127566536","https://openalex.org/W4285102188","https://openalex.org/W4312697252","https://openalex.org/W4382202651","https://openalex.org/W4383196866","https://openalex.org/W4385764571","https://openalex.org/W4389665629","https://openalex.org/W4394862898","https://openalex.org/W4401386912","https://openalex.org/W4401415811"],"related_works":[],"abstract_inverted_index":{"Multi-vehicle":[0],"trajectory":[1,29],"planning":[2,30,42],"(MVTP)":[3],"is":[4],"one":[5],"of":[6,58,115,136],"the":[7,56,120,134,144],"key":[8,39],"challenges":[9],"in":[10,70,87,93,104,119,147],"multi-robot":[11],"systems":[12],"(MRSs)":[13],"and":[14,47,91,102],"has":[15],"broad":[16],"applications":[17],"across":[18],"various":[19],"fields.":[20],"This":[21],"paper":[22],"presents":[23],"ESCoT,":[24],"an":[25],"enhanced":[26],"step-based":[27,59,80,137],"coordinate":[28],"method":[31],"for":[32,43,49],"multiple":[33],"car-like":[34],"robots.":[35],"ESCoT":[36,68,128],"incorporates":[37],"two":[38],"strategies:":[40],"collaborative":[41],"local":[44],"robot":[45,141],"groups":[46],"replanning":[48],"duplicate":[50],"configurations.":[51,123],"These":[52],"strategies":[53],"effectively":[54,129],"enhance":[55],"performance":[57],"MVTP":[60],"methods.":[61,138],"Through":[62],"extensive":[63],"experiments,":[64],"we":[65],"show":[66],"that":[67,127],"1)":[69],"sparse":[71],"scenarios,":[72,96,106],"significantly":[73],"improves":[74],"solution":[75],"quality":[76],"compared":[77],"to":[78,84],"baseline":[79,109],"method,":[81],"achieving":[82],"up":[83],"70%":[85],"improvement":[86],"typical":[88],"conflict":[89],"scenarios":[90],"34%":[92],"randomly":[94],"generated":[95],"while":[97],"maintaining":[98],"high":[99],"solving":[100],"efficiency;":[101],"2)":[103],"dense":[105],"outperforms":[107],"all":[108],"methods,":[110],"maintains":[111],"a":[112],"success":[113],"rate":[114],"over":[116],"50%":[117],"even":[118],"most":[121],"challenging":[122],"The":[124],"results":[125],"demonstrate":[126],"solves":[130],"MVTP,":[131],"further":[132],"extending":[133],"capabilities":[135],"Finally,":[139],"practical":[140],"tests":[142],"validate":[143],"algorithm\u2019s":[145],"applicability":[146],"real-world":[148],"scenarios.":[149]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}
