{"id":"https://openalex.org/W4408712147","doi":"https://doi.org/10.1109/itsc58415.2024.10919634","title":"Mars Planner: Improved Batch Spatio-Temporal Path Planning for Multi-Ackerman Robotic Systems","display_name":"Mars Planner: Improved Batch Spatio-Temporal Path Planning for Multi-Ackerman Robotic Systems","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408712147","doi":"https://doi.org/10.1109/itsc58415.2024.10919634"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10919634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919634","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","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/A5043464306","display_name":"Song Guo","orcid":"https://orcid.org/0000-0001-9831-2202"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Song Guo","raw_affiliation_strings":["School of Microelectronics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,China,710049"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100581266","display_name":"Shen\u2019ao Wang","orcid":"https://orcid.org/0009-0008-1478-5247"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Shen'ao Wang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049","institution_ids":["https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101621282","display_name":"Junjie He","orcid":"https://orcid.org/0000-0003-4746-2870"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Junjie He","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049","institution_ids":["https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100443536","display_name":"Liming Chen","orcid":"https://orcid.org/0000-0003-0200-7989"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Liming Chen","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049","institution_ids":["https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115593792","display_name":"Hang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Wang","raw_affiliation_strings":["School of Microelectronics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,China,710049"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100706029","display_name":"Hongbin Sun","orcid":"https://orcid.org/0000-0003-2153-2906"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Hongbin Sun","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,710049","institution_ids":["https://openalex.org/I4210105595"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043464306"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29747805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9979000091552734,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8911669254302979},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.772952675819397},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7066318988800049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6336278915405273},{"id":"https://openalex.org/keywords/mars-rover","display_name":"Mars rover","score":0.5414441227912903},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.501706600189209},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4214995205402374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4196300804615021},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.339044988155365},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.2706635594367981},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07529431581497192}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8911669254302979},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.772952675819397},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7066318988800049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6336278915405273},{"id":"https://openalex.org/C2781266219","wikidata":"https://www.wikidata.org/wiki/Q389459","display_name":"Mars rover","level":3,"score":0.5414441227912903},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.501706600189209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4214995205402374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4196300804615021},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.339044988155365},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.2706635594367981},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07529431581497192},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10919634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919634","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1510564526","https://openalex.org/W2007193228","https://openalex.org/W2039107569","https://openalex.org/W2062731992","https://openalex.org/W2110743579","https://openalex.org/W2124015815","https://openalex.org/W2125194743","https://openalex.org/W2136207702","https://openalex.org/W2155313135","https://openalex.org/W2168424616","https://openalex.org/W2191404279","https://openalex.org/W2471190594","https://openalex.org/W2884634491","https://openalex.org/W2892258706","https://openalex.org/W2903837854","https://openalex.org/W2964035402","https://openalex.org/W2964211993","https://openalex.org/W3027875256","https://openalex.org/W3095606244","https://openalex.org/W3103291601","https://openalex.org/W3103635569","https://openalex.org/W3112239567","https://openalex.org/W3198009177","https://openalex.org/W4281561287","https://openalex.org/W4389665629","https://openalex.org/W6678680631","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W3025044382","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,121],"innovative":[4],"multi-agent":[5],"path":[6,27,32,108],"finding":[7],"(MAPF)":[8],"system":[9],"specifically":[10],"designed":[11],"for":[12,140],"navigating":[13],"multi-Ackerman":[14],"robotic":[15],"systems":[16],"in":[17,104,129],"intricate":[18],"environments.":[19],"The":[20],"Mars":[21,117],"Planner,":[22],"the":[23,43,49,56,116],"proposed":[24],"solution,":[25],"enhances":[26],"planning":[28],"by":[29,35],"tackling":[30],"collision-free":[31],"challenges":[33],"encountered":[34],"groups":[36],"of":[37,45,125],"intelligent":[38],"agents.":[39],"Our":[40],"contributions":[41],"include":[42],"development":[44],"two":[46],"key":[47],"algorithms:":[48],"Fast":[50],"Batch":[51,57],"Path":[52,59],"Finding":[53],"(FBPF)":[54],"and":[55,90,97,107,136,143],"Spatio-Temporal":[58],"Refinement":[60],"(BSTPR).":[61],"FBPF":[62],"utilizes":[63],"a":[64,134],"hybrid":[65],"A*":[66],"approach":[67],"to":[68,86,111],"generate":[69],"preliminary":[70],"coarse":[71],"paths":[72,81],"within":[73],"free":[74],"configuration":[75],"spaces,":[76],"while":[77],"BSTPR":[78],"refines":[79],"these":[80],"using":[82],"topological":[83],"homotopy":[84],"strategies":[85],"optimize":[87],"time":[88],"allocation":[89],"effectively":[91],"resolve":[92],"internal":[93],"conflicts.":[94],"Through":[95],"simulations":[96],"physical":[98],"experiments,":[99],"we":[100],"demonstrate":[101],"significant":[102],"enhancements":[103],"computational":[105],"efficiency":[106],"quality":[109],"compared":[110],"existing":[112],"methods.":[113],"In":[114],"conclusion,":[115],"Planner":[118],"stands":[119],"as":[120],"efficient":[122],"solution":[123],"capable":[124],"managing":[126],"large-scale":[127],"complexity":[128],"real-world":[130],"applications.":[131],"It":[132],"offers":[133],"robust":[135],"scalable":[137],"framework":[138],"suitable":[139],"diverse":[141],"environments":[142],"scenarios.":[144]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
