{"id":"https://openalex.org/W1995170319","doi":"https://doi.org/10.1109/ivs.2013.6629647","title":"Combining space exploration and heuristic search in online motion planning for nonholonomic vehicles","display_name":"Combining space exploration and heuristic search in online motion planning for nonholonomic vehicles","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W1995170319","doi":"https://doi.org/10.1109/ivs.2013.6629647","mag":"1995170319"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2013.6629647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2013.6629647","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/A5100408399","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0003-2094-9734"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chao Chen","raw_affiliation_strings":["Fortiss GmbH affiliated institute, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Fortiss GmbH, Tech. Univ. Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fortiss GmbH affiliated institute, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]},{"raw_affiliation_string":"Fortiss GmbH, Tech. Univ. Munchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003833130","display_name":"Markus Rickert","orcid":"https://orcid.org/0000-0001-6264-0888"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Rickert","raw_affiliation_strings":["Fortiss GmbH affiliated institute, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Fortiss GmbH, Tech. Univ. Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fortiss GmbH affiliated institute, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]},{"raw_affiliation_string":"Fortiss GmbH, Tech. Univ. Munchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Robot. & Embedded Syst., Tech. Univ. Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Robot. & Embedded Syst., Tech. Univ. Munchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9339,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87576684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"1307","last_page":"1312"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9689000248908997,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7336115837097168},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7275550365447998},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6696445941925049},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.662390947341919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6344517469406128},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5034427046775818},{"id":"https://openalex.org/keywords/incremental-heuristic-search","display_name":"Incremental heuristic search","score":0.4552918076515198},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4240746796131134},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4235718846321106},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4232654869556427},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4137824773788452},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.37781235575675964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30931806564331055},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3058904707431793},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.30121469497680664},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2963702082633972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2768644690513611},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2671026587486267},{"id":"https://openalex.org/keywords/beam-search","display_name":"Beam search","score":0.20477548241615295}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7336115837097168},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7275550365447998},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6696445941925049},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.662390947341919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6344517469406128},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5034427046775818},{"id":"https://openalex.org/C139979381","wikidata":"https://www.wikidata.org/wiki/Q17056021","display_name":"Incremental heuristic search","level":4,"score":0.4552918076515198},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4240746796131134},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4235718846321106},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4232654869556427},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4137824773788452},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.37781235575675964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30931806564331055},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3058904707431793},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.30121469497680664},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2963702082633972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2768644690513611},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2671026587486267},{"id":"https://openalex.org/C19889080","wikidata":"https://www.wikidata.org/wiki/Q2835852","display_name":"Beam search","level":3,"score":0.20477548241615295},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ivs.2013.6629647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2013.6629647","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.665.8046","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.665.8046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/ChenChao2013a.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321469","display_name":"Bundesministerium f\u00fcr Wirtschaft und Technologie","ror":"https://ror.org/02vgg2808"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W96909829","https://openalex.org/W131069610","https://openalex.org/W177468924","https://openalex.org/W1553616171","https://openalex.org/W1971998222","https://openalex.org/W1978301848","https://openalex.org/W1983948265","https://openalex.org/W1996183429","https://openalex.org/W2000359213","https://openalex.org/W2103120971","https://openalex.org/W2111043354","https://openalex.org/W2112271657","https://openalex.org/W2112765698","https://openalex.org/W2113029345","https://openalex.org/W2120682965","https://openalex.org/W2141279501","https://openalex.org/W2141664020","https://openalex.org/W2147497140","https://openalex.org/W2152536965","https://openalex.org/W2313274380"],"related_works":["https://openalex.org/W2383775285","https://openalex.org/W2081821176","https://openalex.org/W2358427436","https://openalex.org/W2064794194","https://openalex.org/W2402589461","https://openalex.org/W1589124115","https://openalex.org/W2376959332","https://openalex.org/W4200104947","https://openalex.org/W1622225657","https://openalex.org/W4302010637"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"efficient":[4],"motion":[5],"planning":[6],"method":[7,90],"for":[8,34,96,108],"nonholonomic":[9,97,146],"vehicles,":[10],"which":[11,76],"combines":[12],"space":[13,23,33],"exploration":[14,24],"and":[15,37,82,133,142],"heuristic":[16,42],"search":[17,43,135],"to":[18,29,49,93,144],"achieve":[19],"online":[20],"performance.":[21],"The":[22,56,113,138],"employs":[25],"simple":[26,70],"geometric":[27],"shapes":[28],"investigate":[30],"the":[31,35,41,65,79,109,119],"collision-free":[32],"dimension":[36],"topology":[38],"information.":[39],"Then,":[40],"is":[44,91,118,140],"guided":[45],"by":[46],"this":[47,60,89,116],"knowledge":[48],"generate":[50,94],"vehicle":[51,147],"motions":[52,95,148],"under":[53,149],"kinodynamic":[54,83,150],"constraints.":[55,84,151],"overall":[57],"performance":[58],"of":[59,67,103,115,121],"framework":[61],"greatly":[62],"benefits":[63],"from":[64],"cooperation":[66],"these":[68],"two":[69],"generic":[71],"algorithms":[72],"in":[73,99],"suitable":[74],"domains,":[75],"sequentially":[77],"handles":[78],"free-space":[80],"information":[81],"Experimental":[85],"results":[86],"show":[87],"that":[88],"able":[92,143],"vehicles":[98],"a":[100,122,129],"time":[101],"frame":[102],"less":[104],"than":[105],"100":[106],"milliseconds":[107],"given":[110],"problem":[111],"settings.":[112],"contribution":[114],"work":[117],"development":[120],"Space":[123],"Exploration":[124],"Guided":[125],"Heuristic":[126],"Search":[127],"with":[128],"circle-path":[130],"based":[131],"heuristics":[132],"adaptable":[134],"step":[136],"size.":[137],"approach":[139],"grid-free":[141],"plan":[145]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
