{"id":"https://openalex.org/W2799361457","doi":"https://doi.org/10.1109/iscas.2018.8351867","title":"Using motion primitives to enforce vehicle motion constraints in sampling-based optimal planners","display_name":"Using motion primitives to enforce vehicle motion constraints in sampling-based optimal planners","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2799361457","doi":"https://doi.org/10.1109/iscas.2018.8351867","mag":"2799361457"},"language":"en","primary_location":{"id":"doi:10.1109/iscas.2018.8351867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas.2018.8351867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Symposium on Circuits and Systems (ISCAS)","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/A5073725448","display_name":"Ba\u015fak Sak\u00e7ak","orcid":"https://orcid.org/0000-0002-0388-6172"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Basak Sakcak","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089088404","display_name":"Luca Bascetta","orcid":"https://orcid.org/0000-0002-5029-1083"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Bascetta","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004708144","display_name":"Gianni Ferretti","orcid":"https://orcid.org/0000-0001-5321-8992"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianni Ferretti","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060251698","display_name":"Maria Prandini","orcid":"https://orcid.org/0000-0001-7443-4117"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Prandini","raw_affiliation_strings":["Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5073725448"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.1045,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.4166271,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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":0.9876000285148621,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9840999841690063,"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/motion","display_name":"Motion (physics)","score":0.7475497722625732},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.720513641834259},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.689119279384613},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6459419131278992},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6093482375144958},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47432252764701843},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43728509545326233},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4336296319961548},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42975911498069763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32974743843078613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.26316922903060913},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1700133979320526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12856227159500122},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08960539102554321}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7475497722625732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.720513641834259},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.689119279384613},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6459419131278992},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6093482375144958},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47432252764701843},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43728509545326233},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4336296319961548},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42975911498069763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32974743843078613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26316922903060913},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1700133979320526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12856227159500122},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08960539102554321},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iscas.2018.8351867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas.2018.8351867","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Symposium on Circuits and Systems (ISCAS)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1084155","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1084155","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1529790005","https://openalex.org/W1914059017","https://openalex.org/W1971086298","https://openalex.org/W1992157405","https://openalex.org/W2071401582","https://openalex.org/W2113029345","https://openalex.org/W2611243847","https://openalex.org/W4231761304","https://openalex.org/W6639871426"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2101105382"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,41],"newly":[4],"conceived":[5],"planning":[6,53],"algorithm":[7],"that":[8],"is":[9,24],"based":[10],"on":[11],"the":[12,29,52,59,62],"introduction":[13],"of":[14,22,35,61],"motion":[15,49],"primitives":[16],"in":[17,40,51],"RRT*.":[18],"Online":[19],"computational":[20],"complexity":[21],"RRT*":[23],"greatly":[25],"reduced":[26],"by":[27],"pre-computing":[28],"optimal":[30],"constrained":[31],"trajectories":[32],"joining":[33],"pairs":[34],"starting":[36],"and":[37],"destination":[38],"configurations":[39],"grid":[42],"space,":[43],"while":[44],"taking":[45],"into":[46],"account":[47],"vehicle":[48],"constraints":[50],"task.":[54],"A":[55],"numerical":[56],"example":[57],"shows":[58],"effectiveness":[60],"algorithm.":[63]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}