{"id":"https://openalex.org/W4285813122","doi":"https://doi.org/10.1109/iv51971.2022.9827320","title":"A*-guided Incremental Sampling for Trajectory Planning of Inland Vessels in Narrow Ship Canals","display_name":"A*-guided Incremental Sampling for Trajectory Planning of Inland Vessels in Narrow Ship Canals","publication_year":2022,"publication_date":"2022-06-05","ids":{"openalex":"https://openalex.org/W4285813122","doi":"https://doi.org/10.1109/iv51971.2022.9827320"},"language":"en","primary_location":{"id":"doi:10.1109/iv51971.2022.9827320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827320","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","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/A5048069868","display_name":"Marvin Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin Huang","raw_affiliation_strings":["RWTH Aachen University,Institute of Automatic Control,Aachen,Germany,52074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Institute of Automatic Control,Aachen,Germany,52074","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["RWTH Aachen University,Institute of Automatic Control,Aachen,Germany,52074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Institute of Automatic Control,Aachen,Germany,52074","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8918,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6616242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"658","last_page":"663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12985","display_name":"Maritime Security and History","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8070142865180969},{"id":"https://openalex.org/keywords/rudder","display_name":"Rudder","score":0.6822173595428467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6021849513053894},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5898801684379578},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5173401236534119},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4814290702342987},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4525548219680786},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43763571977615356},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.43474507331848145},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4153051972389221},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.33398711681365967},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.288263201713562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24357637763023376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1772322952747345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17090505361557007},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.14715388417243958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13580399751663208}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8070142865180969},{"id":"https://openalex.org/C183776436","wikidata":"https://www.wikidata.org/wiki/Q209760","display_name":"Rudder","level":2,"score":0.6822173595428467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6021849513053894},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5898801684379578},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5173401236534119},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4814290702342987},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4525548219680786},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43763571977615356},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.43474507331848145},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4153051972389221},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.33398711681365967},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.288263201713562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24357637763023376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1772322952747345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17090505361557007},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.14715388417243958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13580399751663208},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iv51971.2022.9827320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827320","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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 Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:852449","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/852449","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE Intelligent Vehicles Symposium (IV) : 4-9 June 2022 / publisher: IEEE<br/>33. IEEE Intelligent Vehicles Symposium, IV 2022, Aachen, Germany, 2022-06-04 - 2022-06-09","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2169157686","https://openalex.org/W2605242147","https://openalex.org/W3196346419","https://openalex.org/W2386267831","https://openalex.org/W2917584747","https://openalex.org/W2332440039","https://openalex.org/W2356180634","https://openalex.org/W3165531778","https://openalex.org/W3026032840","https://openalex.org/W1582825576"],"abstract_inverted_index":{"While":[0],"substantial":[1],"research":[2,17],"on":[3,10,18,121,159,189,223],"trajectory":[4,51,111,116,140,155,182,234],"planning":[5,52,71,112,117,141,156,183],"for":[6,69,138,212],"large":[7,28,42,214],"scale":[8,29,215],"vessels":[9,30,46,148],"maritime":[11],"environment":[12],"has":[13,21],"been":[14,22],"conducted,":[15],"the":[16,34,41,62,74,82,88,93,104,109,139,165,177,181,224,250],"inland":[19,45,261],"waterways":[20],"limited":[23],"to":[24,40,53,72,252,256],"small":[25],"vessels.":[26,128],"For":[27],"in":[31,38,92,99,151,219,260],"ship":[32,96,152,169],"canals,":[33],"narrow":[35],"canal":[36],"width":[37],"comparison":[39],"geometries":[43],"of":[44,64,87,95,142,168,173,238],"require":[47,126],"a":[48,185,190,213,220,230,236],"dynamically":[49],"feasible":[50,232],"avoid":[54],"collisions":[55],"with":[56,235],"static":[57,246],"and":[58,144,176,245],"dynamic":[59,231,244],"obstacles.":[60,247],"Thus,":[61],"use":[63],"an":[65,134,160],"accurate":[66],"vessel":[67,216,258],"model":[68,84,106,123],"motion":[70],"ensure":[73],"dynamical":[75],"feasibility":[76],"is":[77,85,157,194,203,217],"desirable.":[78],"In":[79,129],"this":[80,130],"regard,":[81],"Abkowitz":[83],"one":[86],"classic":[89],"models":[90],"used":[91],"study":[94,222],"maneuvring,":[97],"especially":[98],"calm":[100],"water":[101],"environments.":[102],"However,":[103],"nonlinear":[105],"structure":[107],"makes":[108],"model-based":[110],"challenging,":[113],"as":[114],"most":[115],"methods":[118],"either":[119],"rely":[120],"specific":[122],"structures":[124],"or":[125],"fully-actuated":[127],"paper,":[131],"we":[132],"introduce":[133],"incremental":[135],"sampling":[136],"method":[137,228],"rudder-steered":[143],"therefore":[145],"underactuated":[146],"surface":[147],"when":[149],"sailing":[150],"canals.":[153,170],"The":[154,171,226],"based":[158],"heuristic":[161],"tree":[162,191],"search":[163,188],"along":[164],"tubular":[166],"geometry":[167],"discretization":[172],"input":[174],"value":[175],"prediction":[178],"horizon":[179,237],"transforms":[180],"into":[184],"minimum-cost":[186],"graph":[187],"structure,":[192],"which":[193],"partially":[195],"explored":[196],"using":[197],"weighted":[198],"A*-search.":[199],"Efficient":[200],"collision":[201],"detection":[202],"added":[204],"by":[205],"applying":[206],"computer":[207],"graphic":[208],"strategies.":[209],"An":[210],"evaluation":[211],"shown":[218],"simulation":[221],"Dortmund-Ems-Canal.":[225],"proposed":[227],"finds":[229],"local":[233],"several":[239],"hundred":[240],"meter,":[241],"avoiding":[242],"both":[243],"This":[248],"opens":[249],"possibility":[251],"extend":[253],"autonomous":[254],"driving":[255],"commercial":[257],"operations":[259],"waterways.":[262]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
