{"id":"https://openalex.org/W2516601648","doi":"https://doi.org/10.1109/ivs.2016.7535549","title":"Combining task and motion planning for intersection assistance systems","display_name":"Combining task and motion planning for intersection assistance systems","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2516601648","doi":"https://doi.org/10.1109/ivs.2016.7535549","mag":"2516601648"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2016.7535549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2016.7535549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"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, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems, Technische Universit\u00e4t M\u00fcnchen, 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":1.1831,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85487428,"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":"1242","last_page":"1247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"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/intersection","display_name":"Intersection (aeronautics)","score":0.7393935918807983},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6857938766479492},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6222266554832458},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.560621976852417},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5559746623039246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38202595710754395},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.15801507234573364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12742051482200623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11026805639266968},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08826187252998352}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7393935918807983},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6857938766479492},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6222266554832458},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.560621976852417},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5559746623039246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38202595710754395},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.15801507234573364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12742051482200623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11026805639266968},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08826187252998352}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2016.7535549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2016.7535549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1541643361","https://openalex.org/W1597309017","https://openalex.org/W1842198555","https://openalex.org/W1976328863","https://openalex.org/W1991353219","https://openalex.org/W1995170319","https://openalex.org/W2014744694","https://openalex.org/W2031970403","https://openalex.org/W2099040218","https://openalex.org/W2117038244","https://openalex.org/W2121795328","https://openalex.org/W2121806728","https://openalex.org/W2137514195","https://openalex.org/W2188263270","https://openalex.org/W2206183808","https://openalex.org/W2406067508","https://openalex.org/W2579911499"],"related_works":["https://openalex.org/W2348909947","https://openalex.org/W4292672442","https://openalex.org/W2362101859","https://openalex.org/W2791431590","https://openalex.org/W2941610985","https://openalex.org/W4235810826","https://openalex.org/W1978900583","https://openalex.org/W2350688482","https://openalex.org/W2122135111","https://openalex.org/W2053575972"],"abstract_inverted_index":{"A":[0],"hybrid":[1],"planning":[2,20,23,30,115,118,122,139],"approach":[3],"is":[4,108,124],"developed":[5],"for":[6,149,157],"intersection":[7,53,128],"assistance":[8],"systems":[9],"up":[10],"to":[11,32,55,67,86],"fully":[12],"automated":[13,150],"driving":[14,49,70,151],"through":[15],"intersections.":[16],"Route":[17],"planning,":[18],"task":[19,60,92,117],"and":[21,38,77,94,106,144,161],"motion":[22,81,96,114],"methods":[24],"are":[25,98],"integrated":[26],"in":[27,40,112,126],"a":[28,47,63,146],"hierarchical":[29,121],"framework":[31,123],"deal":[33],"with":[34,141],"the":[35,56,69,88,91,95,102,113,137],"various":[36],"information":[37],"constraints":[39],"different":[41,158],"layers.":[42],"The":[43,59,80,120,130],"navigation":[44],"agent":[45],"provides":[46],"global":[48],"direction":[50],"at":[51],"an":[52],"according":[54],"selected":[57],"route.":[58],"planner":[61,82],"decides":[62],"sequence":[64,93],"of":[65],"actions":[66],"accomplish":[68],"mission":[71],"taking":[72],"into":[73],"consideration":[74],"traffic":[75,104,159],"rules":[76,160],"semantic":[78],"conditions.":[79],"generates":[83],"detailed":[84],"trajectories":[85],"execute":[87],"tasks.":[89],"Meanwhile,":[90],"trajectory":[97],"verified":[99],"periodically":[100],"against":[101],"actual":[103],"situation,":[105],"re-planning":[107],"triggered":[109],"when":[110],"necessary":[111],"or":[116],"level.":[119],"evaluated":[125],"several":[127],"scenarios.":[129],"result":[131],"shows":[132],"that":[133,152],"it":[134],"can":[135,153],"handle":[136],"complex":[138],"problems":[140],"dynamic":[142],"objects":[143],"provide":[145],"modular":[147],"solution":[148],"be":[154],"easily":[155],"extended":[156],"applications.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}