{"id":"https://openalex.org/W2913982962","doi":"https://doi.org/10.1109/ivs.2019.8813872","title":"Improved Optimization of Motion Primitives for Motion Planning in State Lattices","display_name":"Improved Optimization of Motion Primitives for Motion Planning in State Lattices","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2913982962","doi":"https://doi.org/10.1109/ivs.2019.8813872","mag":"2913982962"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8813872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8813872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1810.07470","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028592528","display_name":"Kristoffer Bergman","orcid":"https://orcid.org/0000-0002-8354-6249"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kristoffer Bergman","raw_affiliation_strings":["Division of Automatic Control, Link&#x00F6;ping University, Sweden","Division of Automatic Control, Linkoping University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link&#x00F6;ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Linkoping University, Sweden#TAB#","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077008561","display_name":"Oskar Ljungqvist","orcid":"https://orcid.org/0000-0002-1795-5992"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Oskar Ljungqvist","raw_affiliation_strings":["Division of Automatic Control, Link&#x00F6;ping University, Sweden","Division of Automatic Control, Linkoping University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link&#x00F6;ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Linkoping University, Sweden#TAB#","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028497393","display_name":"Daniel Axehill","orcid":"https://orcid.org/0000-0001-6957-2603"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Axehill","raw_affiliation_strings":["Division of Automatic Control, Link&#x00F6;ping University, Sweden","Division of Automatic Control, Linkoping University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link&#x00F6;ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Linkoping University, Sweden#TAB#","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102134673"],"apc_list":null,"apc_paid":null,"fwci":0.5951,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70748808,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2307","last_page":"2314"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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/T12290","display_name":"Human Motion and Animation","score":0.9940999746322632,"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/computer-science","display_name":"Computer science","score":0.6520512104034424},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6286541223526001},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6278634071350098},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5408464074134827},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4817521572113037},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.4673246443271637},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.46514570713043213},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4578778147697449},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39306214451789856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3876495957374573},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36217793822288513},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3405363857746124},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2991901636123657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29020410776138306},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2670699954032898},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1597360372543335}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6520512104034424},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6286541223526001},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6278634071350098},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5408464074134827},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4817521572113037},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.4673246443271637},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.46514570713043213},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4578778147697449},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39306214451789856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3876495957374573},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36217793822288513},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3405363857746124},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2991901636123657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29020410776138306},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2670699954032898},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1597360372543335},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ivs.2019.8813872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8813872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1810.07470","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.07470","pdf_url":"https://arxiv.org/pdf/1810.07470","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2913982962","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1810.07470v2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1810.07470","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1810.07470","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:2987668604","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/ivs/ivs2019.html#BergmanLA19","pdf_url":null,"source":{"id":"https://openalex.org/S4363604372","display_name":"IV","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":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IV","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1810.07470","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.07470","pdf_url":"https://arxiv.org/pdf/1810.07470","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321030","display_name":"VINNOVA","ror":"https://ror.org/01kd5m353"},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2913982962.pdf","grobid_xml":"https://content.openalex.org/works/W2913982962.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1424654272","https://openalex.org/W1531225991","https://openalex.org/W1576408494","https://openalex.org/W1977164425","https://openalex.org/W1992157405","https://openalex.org/W2000194319","https://openalex.org/W2071447697","https://openalex.org/W2121806728","https://openalex.org/W2123871098","https://openalex.org/W2136445059","https://openalex.org/W2142298978","https://openalex.org/W2163411428","https://openalex.org/W2164093501","https://openalex.org/W2164192673","https://openalex.org/W2171414411","https://openalex.org/W2221321873","https://openalex.org/W2326206646","https://openalex.org/W2406067508","https://openalex.org/W2606365885","https://openalex.org/W2611243847","https://openalex.org/W2842089854","https://openalex.org/W2912243751","https://openalex.org/W2950528016","https://openalex.org/W3083074253","https://openalex.org/W4231761304","https://openalex.org/W6775299407"],"related_works":["https://openalex.org/W2970361281","https://openalex.org/W3184340030","https://openalex.org/W2950528016","https://openalex.org/W3205649458","https://openalex.org/W2789461899","https://openalex.org/W2255109686","https://openalex.org/W2783583279","https://openalex.org/W2140338233","https://openalex.org/W1992157405","https://openalex.org/W2999888062","https://openalex.org/W2738873657","https://openalex.org/W2768574516","https://openalex.org/W2187113747","https://openalex.org/W2423909138","https://openalex.org/W3129923513","https://openalex.org/W152195196","https://openalex.org/W2059030232","https://openalex.org/W2351028498","https://openalex.org/W3184687814","https://openalex.org/W2183138881"],"abstract_inverted_index":{"In":[0,106],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,17,52,111,145,148],"framework":[6,117,167],"for":[7,11,40,120,181],"generating":[8],"motion":[9,13,125,174],"primitives":[10,126],"lattice-based":[12],"planners":[14],"automatically.":[15],"Given":[16],"family":[18],"of":[19,30,85,124,172,178],"systems,":[20],"the":[21,41,47,56,62,72,81,116,128,133,140,166,170,173,182],"user":[22],"only":[23,59],"needs":[24],"to":[25,100,108],"specify":[26],"which":[27,32],"principle":[28],"types":[29,50],"motions,":[31],"are":[33,38],"here":[34],"denoted":[35],"maneuvers,":[36],"that":[37,92,165],"relevant":[39],"considered":[42],"system":[43,54,114,129,134],"family.":[44],"Based":[45],"on":[46],"selected":[48,53],"maneuver":[49],"and":[51,96],"instance,":[55],"algorithm":[57],"not":[58],"automatically":[60],"optimizes":[61,71],"motions":[63,103],"connecting":[64],"pre-defined":[65],"boundary":[66,74,89],"conditions,":[67],"but":[68],"also":[69,118,159],"simultaneously":[70],"end-point":[73],"conditions":[75],"as":[76],"well.":[77],"This":[78],"significantly":[79,142],"reduces":[80],"time":[82],"consuming":[83],"part":[84],"manually":[86],"specifying":[87],"all":[88],"value":[90],"problems":[91],"should":[93],"be":[94],"solved,":[95],"no":[97],"exhaustive":[98],"search":[99],"generate":[101],"feasible":[102],"is":[104,135,151],"required.":[105],"addition":[107],"handling":[109],"static":[110],"priori":[112],"known":[113],"parameters,":[115],"allows":[119],"fast":[121],"automatic":[122],"reoptimization":[123],"if":[127,139],"parameters":[130],"change":[131],"while":[132],"in":[136,161,176],"use,":[137],"e.g,":[138],"load":[141],"changes":[143],"or":[144],"trailer":[146],"with":[147],"new":[149],"geometry":[150],"picked":[152],"up":[153],"by":[154],"an":[155],"autonomous":[156],"truck.":[157],"We":[158],"show":[160],"several":[162],"numerical":[163],"examples":[164],"can":[168],"enhance":[169],"performance":[171],"planner":[175],"terms":[177],"total":[179],"cost":[180],"produced":[183],"solution.":[184]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
