{"id":"https://openalex.org/W2742041187","doi":"https://doi.org/10.1109/ivs.2017.7995801","title":"Motion planning under perception and control uncertainties with Space Exploration Guided Heuristic Search","display_name":"Motion planning under perception and control uncertainties with Space Exploration Guided Heuristic Search","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742041187","doi":"https://doi.org/10.1109/ivs.2017.7995801","mag":"2742041187"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995801","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/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":["An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["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/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":["An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technische Universitat Munchen, Munchen, Bayern, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitat Munchen, Munchen, Bayern, DE","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3695,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.69072654,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2017","issue":null,"first_page":"712","last_page":"718"},"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":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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/motion-planning","display_name":"Motion planning","score":0.7088201642036438},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6798356175422668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6735821962356567},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5846283435821533},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5238723158836365},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5068112015724182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4881061017513275},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.46505531668663025},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41765671968460083},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41201648116111755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3809777796268463},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3329802453517914},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32975101470947266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2746852934360504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22651252150535583},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17848485708236694}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7088201642036438},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6798356175422668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6735821962356567},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5846283435821533},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5238723158836365},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5068112015724182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4881061017513275},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.46505531668663025},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41765671968460083},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41201648116111755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3809777796268463},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3329802453517914},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32975101470947266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2746852934360504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22651252150535583},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17848485708236694},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ivs.2017.7995801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995801","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"mag:3163742175","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201702210113350521","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W26518115","https://openalex.org/W1424654272","https://openalex.org/W1529817735","https://openalex.org/W1570402058","https://openalex.org/W1995170319","https://openalex.org/W2002201291","https://openalex.org/W2035616271","https://openalex.org/W2087179560","https://openalex.org/W2099040218","https://openalex.org/W2103052138","https://openalex.org/W2105934661","https://openalex.org/W2145938889","https://openalex.org/W2167805536","https://openalex.org/W2199230884","https://openalex.org/W2206183808","https://openalex.org/W2749570917","https://openalex.org/W3022404379","https://openalex.org/W6681158678"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W2067790096"],"abstract_inverted_index":{"Reliability":[0],"and":[1,18,71,132,172,214],"safety":[2,171],"are":[3,136,203],"extremely":[4],"important":[5,39],"for":[6,49,104,118,209,229],"autonomous":[7,233],"driving":[8,210],"in":[9,46,74,138,161,184,225,232],"real":[10],"traffic":[11],"scenarios.":[12,187],"However,":[13],"due":[14],"to":[15,40,67,95,165,173,189],"imperfect":[16],"control":[17,72,134],"sensing,":[19],"the":[20,24,42,80,92,105,119,133,143,149,154,162,175,190,206,219,227],"actual":[21],"state":[22,125,155],"of":[23,122,142,170,222],"vehicle":[25],"cannot":[26],"be":[27],"flawlessly":[28],"predicted":[29],"or":[30],"measured,":[31],"but":[32],"estimated":[33],"with":[34,52,69,85,100,115,126,198],"uncertainty.":[35],"Therefor,":[36],"it":[37],"is":[38,65,83,113,182],"consider":[41],"execution":[43,200],"risk":[44],"advance":[45],"motion":[47,107,230],"planning":[48,77,231],"a":[50,53,86,97,110,123,139,158,167],"solution":[51],"high":[54,168],"success":[55],"rate.":[56],"The":[57,129,179],"Space":[58,93],"Exploration":[59,94],"Guided":[60],"Heuristic":[61,150],"Search":[62,151],"(SEHS)":[63],"method":[64,193],"extended":[66],"deal":[68],"perception":[70],"uncertainty":[73,82,156],"its":[75],"two":[76],"stages.":[78],"First,":[79],"localization":[81,102],"evaluated":[84,183],"simple":[87],"probabilistic":[88],"robot":[89,124],"model":[90,131],"by":[91],"find":[96],"path":[98],"corridor":[99],"sufficient":[101],"quality":[103],"desired":[106],"accuracy.":[108,178],"Then,":[109],"trajectory":[111],"controller":[112],"modeled":[114],"nonholonomic":[116],"kinematics":[117],"belief":[120],"propagation":[121],"primitive":[127],"motions.":[128],"dynamic":[130],"feedback":[135],"approximated":[137],"close":[140],"neighborhood":[141],"reference":[144],"trajectory.":[145],"In":[146],"this":[147,223],"case,":[148],"can":[152],"propagate":[153],"as":[157],"normal":[159],"distribution":[160],"search":[163],"tree":[164],"guarantee":[166],"probability":[169],"achieve":[174],"required":[176],"final":[177],"belief-based":[180],"SEHS":[181,192],"several":[185],"simulated":[186],"Compared":[188],"basic":[191],"that":[194],"assumes":[195],"perfection,":[196],"motions":[197],"higher":[199],"successful":[201],"rate":[202],"produced,":[204],"especially":[205],"human-like":[207],"behaviors":[208],"through":[211],"narrow":[212],"passages":[213],"precise":[215],"parking.":[216],"This":[217],"confirms":[218],"major":[220],"contribution":[221],"work":[224],"exploiting":[226],"uncertainties":[228],"driving.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
