{"id":"https://openalex.org/W4230028510","doi":"https://doi.org/10.1109/ivs.2013.6629500","title":"A sampling-based partial motion planning framework for system-compliant navigation along a reference path","display_name":"A sampling-based partial motion planning framework for system-compliant navigation along a reference path","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W4230028510","doi":"https://doi.org/10.1109/ivs.2013.6629500"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2013.6629500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2013.6629500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5065096534","display_name":"Ulrich Schwesinger","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ulrich Schwesinger","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066262214","display_name":"Martin Rufli","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Martin Rufli","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016331448","display_name":"Paul Furgale","orcid":"https://orcid.org/0000-0002-7367-1046"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Paul Furgale","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8016,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.96815111,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"391","last_page":"396"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"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":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7715117931365967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6592954397201538},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6588853597640991},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6209709644317627},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5660574436187744},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5577206015586853},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5375127196311951},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5112693309783936},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4475555717945099},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44428080320358276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43283042311668396},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3288714289665222},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32640814781188965},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2285270392894745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20179292559623718},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17776989936828613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17766129970550537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16693678498268127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16072320938110352},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.14141324162483215}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7715117931365967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6592954397201538},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6588853597640991},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6209709644317627},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5660574436187744},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5577206015586853},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5375127196311951},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5112693309783936},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4475555717945099},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44428080320358276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43283042311668396},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3288714289665222},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32640814781188965},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2285270392894745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20179292559623718},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17776989936828613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17766129970550537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16693678498268127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16072320938110352},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.14141324162483215},{"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/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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2013.6629500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2013.6629500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Intelligent Vehicles Symposium (IV)","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":16,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1983948265","https://openalex.org/W2020530538","https://openalex.org/W2069537876","https://openalex.org/W2117211893","https://openalex.org/W2117321644","https://openalex.org/W2125409550","https://openalex.org/W2144293566","https://openalex.org/W2155732138","https://openalex.org/W2163411428","https://openalex.org/W2399732523","https://openalex.org/W2404189583","https://openalex.org/W2406067508","https://openalex.org/W3140778671","https://openalex.org/W4293682399","https://openalex.org/W7009134754"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2135584875","https://openalex.org/W2383775285"],"abstract_inverted_index":{"In":[0,108],"this":[1,83],"paper":[2],"a":[3,12,25,29,39,49,112,118,170],"generic":[4],"framework":[5,84],"for":[6],"sampling-based":[7,98],"partial":[8],"motion":[9,103],"planning":[10,99,104],"along":[11],"reference":[13,59,144,160],"path":[14],"is":[15,46,93,115,123,133],"presented.":[16],"The":[17,74,89],"sampling":[18],"mechanism":[19],"builds":[20],"on":[21],"the":[22,43,58,68,148],"specification":[23],"of":[24,33,53,76],"vehicle":[26,44],"model":[27,45],"and":[28,71,79,129],"control":[30],"law,":[31],"both":[32],"which":[34],"are":[35],"freely":[36],"selectable.":[37],"Via":[38],"closed-loop":[40],"forward":[41],"simulation,":[42],"regulated":[47],"onto":[48,137],"carefully":[50],"chosen":[51],"set":[52,92],"terminal":[54],"states":[55],"aligned":[56],"with":[57,67,158],"path,":[60],"generating":[61],"system-compliant":[62],"sample":[63],"trajectories":[64],"in":[65,95,105,169],"accordance":[66],"specified":[69],"system":[70,121],"environmental":[72],"constraints.":[73],"consideration":[75],"arbitrary":[77],"state":[78],"input":[80],"limits":[81],"make":[82],"appealing":[85],"to":[86,151,156,167],"nonholonomic":[87],"systems.":[88],"rich":[90],"trajectory":[91],"evaluated":[94],"an":[96,109],"online":[97,152],"framework,":[100],"targeting":[101],"realtime":[102],"dynamic":[106],"environments.":[107],"example":[110],"application,":[111],"Volkswagen":[113],"Golf":[114],"modeled":[116],"via":[117,135],"kinodynamic":[119],"single-track":[120],"that":[122],"further":[124],"constrained":[125],"by":[126],"steering":[127],"angle/rate":[128],"velocity/acceleration":[130],"limits.":[131],"Control":[132],"implemented":[134],"state-feedback":[136],"piecewise":[138],"C":[139],"<sup":[140],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">0</sup>":[142],"-continuous":[143],"paths.":[145],"Experiments":[146],"demonstrate":[147],"planner's":[149],"applicability":[150],"operation,":[153],"its":[154,165],"ability":[155],"cope":[157],"discontinuous":[159],"paths":[161],"as":[162,164],"well":[163],"capability":[166],"navigate":[168],"realistic":[171],"traffic":[172],"scenario.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}