{"id":"https://openalex.org/W4416751071","doi":"https://doi.org/10.1109/iros60139.2025.11247016","title":"Vehicle Drifting Planning and Control Framework for Flexible U-turns in Space-limited Environments","display_name":"Vehicle Drifting Planning and Control Framework for Flexible U-turns in Space-limited Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751071","doi":"https://doi.org/10.1109/iros60139.2025.11247016"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247016","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/A5065832304","display_name":"Shuaicong Yang","orcid":"https://orcid.org/0009-0000-3369-369X"},"institutions":[{"id":"https://openalex.org/I4210161360","display_name":"Institute of Navigation","ror":"https://ror.org/05rmpy443","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210161360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuaicong Yang","raw_affiliation_strings":["Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081","institution_ids":["https://openalex.org/I4210161360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101581415","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-7479-7804"},"institutions":[{"id":"https://openalex.org/I4210161360","display_name":"Institute of Navigation","ror":"https://ror.org/05rmpy443","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210161360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081","institution_ids":["https://openalex.org/I4210161360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102207499","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-3761-5127"},"institutions":[{"id":"https://openalex.org/I4210161360","display_name":"Institute of Navigation","ror":"https://ror.org/05rmpy443","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210161360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081","institution_ids":["https://openalex.org/I4210161360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723961","display_name":"Ting Zhang","orcid":"https://orcid.org/0000-0002-3053-6506"},"institutions":[{"id":"https://openalex.org/I4210161360","display_name":"Institute of Navigation","ror":"https://ror.org/05rmpy443","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210161360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ting Zhang","raw_affiliation_strings":["Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081","institution_ids":["https://openalex.org/I4210161360"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I4210161360","display_name":"Institute of Navigation","ror":"https://ror.org/05rmpy443","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210161360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Integrated Navigation and Intelligent Navigation Laboratory,Beijing,China,100081","institution_ids":["https://openalex.org/I4210161360"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210161360"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"20123","last_page":"20130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.8500999808311462,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.8500999808311462,"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":0.07259999960660934,"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":0.01080000028014183,"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/carsim","display_name":"CarSim","score":0.7886000275611877},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7556999921798706},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5684999823570251},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5672000050544739},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5013999938964844},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4961000084877014},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4587000012397766},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.44769999384880066}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.7886000275611877},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7556999921798706},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5684999823570251},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5672000050544739},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5566999912261963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.511900007724762},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5013999938964844},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4961000084877014},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.44769999384880066},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4375999867916107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42239999771118164},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42100000381469727},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.36309999227523804},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.352400004863739},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33329999446868896},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.31869998574256897},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29600000381469727},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2881999909877777},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.27799999713897705},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2603999972343445}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247016","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1630438798","https://openalex.org/W1974358072","https://openalex.org/W2130527887","https://openalex.org/W2147524078","https://openalex.org/W2513536421","https://openalex.org/W2811282447","https://openalex.org/W2966763222","https://openalex.org/W2970911366","https://openalex.org/W2981761302","https://openalex.org/W2990733219","https://openalex.org/W2994755084","https://openalex.org/W3088542868","https://openalex.org/W3162910041","https://openalex.org/W3207957463","https://openalex.org/W3215495640","https://openalex.org/W4285228542","https://openalex.org/W4385387786","https://openalex.org/W4385834343","https://openalex.org/W4400647562","https://openalex.org/W4404932791","https://openalex.org/W4405787182"],"related_works":[],"abstract_inverted_index":{"Space-limited":[0],"U-shape":[1,68],"bend":[2],"is":[3,24,34,76,112],"a":[4,57,71,94,109,119,124,130],"safety-critical":[5],"scenario":[6],"that":[7],"requires":[8],"the":[9,17,21,37,49,53,140],"high":[10],"maneuverability":[11,161],"of":[12,20,40,52],"vehicles.":[13],"However,":[14],"due":[15],"to":[16,26,36,86],"non-holonomic":[18],"nature":[19],"vehicle,":[22],"it":[23],"difficult":[25],"perform":[27],"flexible":[28],"U-turns":[29],"without":[30],"intricate":[31],"adjustments,":[32],"which":[33],"detrimental":[35],"efficient":[38,64],"execution":[39],"tasks.":[41],"To":[42],"address":[43],"these":[44],"issues,":[45],"this":[46,92],"work":[47],"incorporates":[48],"drifting":[50],"maneuver":[51],"vehicle":[54,74,160],"and":[55,59,82,101,129,149],"proposes":[56],"planning":[58],"control":[60],"framework":[61],"for":[62,114,162],"time-space":[63],"passing":[65],"in":[66,137,146,157,165],"constrained":[67,166],"bends.":[69],"First,":[70],"dual-track,":[72],"3-Dof":[73],"model":[75,131],"developed,":[77],"incorporating":[78],"load":[79],"transfer":[80],"effects":[81],"nonlinear":[83,95],"tire":[84],"forces":[85],"enhance":[87],"trajectory":[88,116,120],"precision.":[89],"Based":[90],"on":[91],"model,":[93],"optimization-based":[96],"planner":[97],"generates":[98],"time-optimal,":[99],"space-efficient,":[100],"drift-compatible":[102],"trajectories":[103],"while":[104],"ensuring":[105],"dynamic":[106,125],"feasibility.":[107],"Finally,":[108],"multilayer":[110],"controller":[111],"designed":[113],"precise":[115],"tracking,":[117],"integrating":[118],"error":[121],"feedback":[122],"compensator,":[123],"state":[126],"feedforward-feedback":[127],"regulator,":[128],"inversion-based":[132],"actuator":[133],"controller.":[134],"Simulation":[135],"experiments":[136],"CarSim":[138],"validate":[139],"proposed":[141],"framework,":[142],"demonstrating":[143],"significant":[144],"improvements":[145],"spatial":[147],"efficiency":[148],"completion":[150],"time.":[151],"The":[152],"results":[153],"highlight":[154],"its":[155],"effectiveness":[156],"enhancing":[158],"autonomous":[159],"high-performance":[163],"applications":[164],"environments.":[167]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}