{"id":"https://openalex.org/W4400645284","doi":"https://doi.org/10.1109/iv55156.2024.10588665","title":"Coordinated Motion Planning for Heterogeneous Autonomous Vehicles Based on Driving Behavior Primitives","display_name":"Coordinated Motion Planning for Heterogeneous Autonomous Vehicles Based on Driving Behavior Primitives","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400645284","doi":"https://doi.org/10.1109/iv55156.2024.10588665"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588665","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iv55156.2024.10588665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5055145092","display_name":"Haijie Guan","orcid":"https://orcid.org/0000-0001-9046-6944"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haijie Guan","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100725040","display_name":"Boyang Wang","orcid":"https://orcid.org/0000-0003-1865-6895"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyang Wang","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100665612","display_name":"Jianwei Gong","orcid":"https://orcid.org/0000-0003-4651-8473"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Gong","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010335898","display_name":"Huiyan Chen","orcid":"https://orcid.org/0009-0003-7464-3906"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyan Chen","raw_affiliation_strings":["Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Mechanical Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055145092"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09996886,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3145","last_page":"3145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9740999937057495,"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":0.9740999937057495,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9072999954223633,"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/computer-science","display_name":"Computer science","score":0.6767411231994629},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6426639556884766},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48282870650291443},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4648984968662262},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4404946565628052},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4176887273788452},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40836432576179504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40668341517448425},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36130160093307495},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1653733253479004},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08606329560279846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767411231994629},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6426639556884766},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48282870650291443},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4648984968662262},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4404946565628052},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4176887273788452},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40836432576179504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40668341517448425},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36130160093307495},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1653733253479004},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08606329560279846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588665","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iv55156.2024.10588665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4381746183","https://openalex.org/W2165574943","https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729"],"abstract_inverted_index":{"Heterogeneous":[0],"autonomous":[1],"vehicle":[2,10,21,105,136,204],"(HAV)":[3],"coordinated":[4,48,169,184,215],"motion":[5,49,170,185,216,229],"planning":[6,50,127,171,186,217],"must":[7],"guide":[8],"each":[9,135],"out":[11],"of":[12,41,64,134,166,194,231],"the":[13,18,39,47,109,126,130,138,148,156,164,167,179,192,210,227],"conflict":[14,139],"zone":[15],"based":[16],"on":[17,108,221],"differences":[19],"in":[20,137,191],"platform":[22],"characteristics.":[23],"Decomposing":[24],"complex":[25],"driving":[26,54,79,83,102,120],"tasks":[27,51,218],"into":[28,87],"primitives":[29,72,157],"is":[30,44],"an":[31,142],"effective":[32],"way":[33],"to":[34,45,77,153,158,177,182],"improve":[35],"algorithm":[36,68,152],"efficiency.":[37],"Hence,":[38],"purpose":[40],"this":[42],"paper":[43],"complete":[46],"through":[52],"offline":[53],"behavior":[55,80],"primitive":[56,114],"(DBP)":[57],"library":[58,99,112],"generation,":[59],"online":[60],"extension":[61,133,196],"and":[62,73,95,104,113,146,197,206,225],"selection":[63],"DBPs.":[65],"The":[66,199],"proposed":[67,168,211],"applies":[69],"dynamic":[70],"movement":[71],"singular":[74],"value":[75],"decomposition":[76],"learn":[78],"patterns":[81],"from":[82,118],"data,":[84],"integrates":[85],"them":[86],"a":[88,97],"model-based":[89],"optimization":[90],"generation":[91],"method":[92,128,212],"as":[93],"constraints,":[94],"builds":[96],"DBP":[98,111,132,144,180,195],"by":[100,202],"fusing":[101],"data":[103],"model.":[106],"Based":[107],"generated":[110],"association":[115],"probabilities":[116],"learned":[117],"labeled":[119],"segments":[121],"via":[122],"stochastic":[123],"context-free":[124],"grammar,":[125],"completes":[129],"independent":[131],"zone,":[140],"generates":[141],"interaction":[143],"tree,":[145],"uses":[147],"mixed-integer":[149],"linear":[150],"programming":[151],"optimally":[154],"select":[155],"be":[159],"executed.":[160],"Fig":[161],"1.":[162],"shows":[163],"flowchart":[165],"method.":[172],"We":[173],"also":[174],"present":[175],"how":[176],"utilize":[178],"libraries":[181],"obtain":[183],"results":[187,200],"with":[188],"spatiotemporal":[189],"information":[190],"form":[193],"selection.":[198],"obtained":[201],"real":[203],"platforms":[205],"simulation":[207],"show":[208],"that":[209],"can":[213],"accomplish":[214],"without":[219],"relying":[220],"specific":[222],"scene":[223],"elements":[224],"highlight":[226],"unique":[228],"characteristics":[230],"HAVs.":[232]},"counts_by_year":[],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}