{"id":"https://openalex.org/W3006050411","doi":"https://doi.org/10.1109/lra.2020.2972787","title":"An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem","display_name":"An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem","publication_year":2020,"publication_date":"2020-02-11","ids":{"openalex":"https://openalex.org/W3006050411","doi":"https://doi.org/10.1109/lra.2020.2972787","mag":"3006050411"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2972787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972787","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/LRA.2020.2972787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080554397","display_name":"Marco Frego","orcid":"https://orcid.org/0000-0003-2855-9052"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Frego","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy","Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2855-9052","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000093663","display_name":"Paolo Bevilacqua","orcid":"https://orcid.org/0000-0003-0695-481X"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Bevilacqua","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0695-481X","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023072688","display_name":"Enrico Saccon","orcid":"https://orcid.org/0000-0002-2418-6618"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Saccon","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2418-6618","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8813-8685","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5486-9989","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.6852,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.67915238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"2483","last_page":"2490"},"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":0.9983000159263611,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9902999997138977,"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/heading","display_name":"Heading (navigation)","score":0.6318727135658264},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.6159844994544983},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5717047452926636},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5351273417472839},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5297670960426331},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.524438202381134},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5188238024711609},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45931580662727356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4333984851837158},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4310997426509857},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43033599853515625},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4162411093711853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36694812774658203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2366805374622345},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.23500481247901917},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1493280827999115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12725618481636047},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.11128795146942139}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6318727135658264},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.6159844994544983},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5717047452926636},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5351273417472839},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5297670960426331},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.524438202381134},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5188238024711609},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45931580662727356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4333984851837158},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4310997426509857},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43033599853515625},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4162411093711853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36694812774658203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2366805374622345},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.23500481247901917},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1493280827999115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12725618481636047},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.11128795146942139},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2020.2972787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972787","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:iris.unitn.it:11572/257295","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8989830","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":"info:eu-repo/semantics/article"},{"id":"pmh:oai:unibz.it:11338714750001241","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2020.2972787","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"Open Research (University of Surrey)","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:unibz.it:11338714750001241","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2020.2972787","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"Open Research (University of Surrey)","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1598760690","https://openalex.org/W1604130472","https://openalex.org/W1963641530","https://openalex.org/W1988888548","https://openalex.org/W1999910477","https://openalex.org/W2058786336","https://openalex.org/W2131339983","https://openalex.org/W2134638269","https://openalex.org/W2148761022","https://openalex.org/W2216368278","https://openalex.org/W2313274380","https://openalex.org/W2573764450","https://openalex.org/W2577354006","https://openalex.org/W2587537338","https://openalex.org/W2606677490","https://openalex.org/W2737125437","https://openalex.org/W2752444998","https://openalex.org/W2779793052","https://openalex.org/W2785627277","https://openalex.org/W2800914593","https://openalex.org/W2808197004","https://openalex.org/W2896943870","https://openalex.org/W2902843745","https://openalex.org/W2914986345","https://openalex.org/W2943157449","https://openalex.org/W2951740426","https://openalex.org/W2962977210","https://openalex.org/W2980113311","https://openalex.org/W3046639050","https://openalex.org/W3103341201","https://openalex.org/W3104978980","https://openalex.org/W6635995158","https://openalex.org/W6679644078","https://openalex.org/W6781373147","https://openalex.org/W7017958053"],"related_works":["https://openalex.org/W2790831368","https://openalex.org/W2151636762","https://openalex.org/W2290102306","https://openalex.org/W1997938114","https://openalex.org/W4389475841","https://openalex.org/W4241327272","https://openalex.org/W2120406836","https://openalex.org/W1996214847","https://openalex.org/W2903299703","https://openalex.org/W2117282672"],"abstract_inverted_index":{"A":[0],"new":[1],"solution":[2,46],"to":[3,83,90],"the":[4,26,39,45,61],"multipoint":[5],"Markov-Dubins":[6],"problem":[7,18,57],"via":[8],"iterative":[9],"dynamic":[10],"programming":[11],"is":[12,35,47,58,76,87],"herein":[13],"presented.":[14,36],"The":[15,73],"shortest":[16],"path":[17,62],"connecting":[19],"a":[20,48,65,70],"sequence":[21],"of":[22,50,64],"given":[23],"points":[24,42],"in":[25,38],"plane":[27],"while":[28],"maintaining":[29],"angle":[30],"continuity":[31],"and":[32,53,78,86],"bounded":[33],"curvature":[34],"As":[37],"classic":[40],"two":[41],"Dubins":[43],"problem,":[44],"juxtaposition":[49],"line":[51],"segments":[52],"circle":[54],"arcs.":[55],"This":[56],"relevant":[59],"for":[60],"planning":[63],"non-holonomic":[66],"robot,":[67],"such":[68],"as":[69,93],"wheeled":[71],"vehicle.":[72],"proposed":[74],"method":[75],"robust":[77],"computationally":[79],"inexpensive":[80],"with":[81],"respect":[82],"existing":[84],"solutions":[85],"therefore":[88],"suitable":[89],"be":[91],"integrated":[92],"motion":[94],"primitive":[95],"into":[96],"Dubins-based":[97],"applications,":[98],"e.g.":[99],"orienteering":[100],"problems":[101],"or":[102],"waypoint":[103],"following":[104],"robotics.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
