{"id":"https://openalex.org/W3112239567","doi":"https://doi.org/10.1109/lra.2020.3044834","title":"Efficient Trajectory Planning for Multiple Non-Holonomic Mobile Robots via Prioritized Trajectory Optimization","display_name":"Efficient Trajectory Planning for Multiple Non-Holonomic Mobile Robots via Prioritized Trajectory Optimization","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3112239567","doi":"https://doi.org/10.1109/lra.2020.3044834","mag":"3112239567"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3044834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3044834","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2012.08135","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Juncheng Li","orcid":"https://orcid.org/0000-0002-1793-6775"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Juncheng Li","raw_affiliation_strings":["School of Electrical, and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1793-6775","affiliations":[{"raw_affiliation_string":"School of Electrical, and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Maopeng Ran","orcid":"https://orcid.org/0000-0003-0984-144X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Maopeng Ran","raw_affiliation_strings":["School of Electrical, and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0984-144X","affiliations":[{"raw_affiliation_string":"School of Electrical, and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":null,"display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical, and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical, and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.5422,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.94284738,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"405","last_page":"412"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9710999727249146,"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":0.9710999727249146,"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":0.004900000058114529,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.004000000189989805,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.77920001745224},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5936999917030334},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5932000279426575},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5662000179290771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5622000098228455},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.539900004863739},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5374000072479248},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47360000014305115}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.77920001745224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6269000172615051},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5936999917030334},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5932000279426575},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5662000179290771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5622000098228455},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5429999828338623},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.539900004863739},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5374000072479248},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47360000014305115},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4016000032424927},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3044834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3044834","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:arXiv.org:2012.08135","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.08135","pdf_url":"https://arxiv.org/pdf/2012.08135","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2012.08135","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.08135","pdf_url":"https://arxiv.org/pdf/2012.08135","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1489244333","https://openalex.org/W1965760189","https://openalex.org/W2015098966","https://openalex.org/W2062731992","https://openalex.org/W2123871098","https://openalex.org/W2133844819","https://openalex.org/W2136207702","https://openalex.org/W2142298978","https://openalex.org/W2142943472","https://openalex.org/W2155313135","https://openalex.org/W2471190594","https://openalex.org/W2565998605","https://openalex.org/W2573311857","https://openalex.org/W2587415290","https://openalex.org/W2777057360","https://openalex.org/W2787876816","https://openalex.org/W2790268363","https://openalex.org/W2886374915","https://openalex.org/W2891214310","https://openalex.org/W2891491652","https://openalex.org/W2909908358","https://openalex.org/W2913211223","https://openalex.org/W2962787639","https://openalex.org/W2969306559","https://openalex.org/W2972941110","https://openalex.org/W2983886045","https://openalex.org/W3009925493","https://openalex.org/W3091037752","https://openalex.org/W6622510454","https://openalex.org/W6629161821"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,40,85],"letter,":[2],"we":[3],"present":[4],"a":[5,26,58,87,119],"novel":[6,88],"approach":[7,23,112],"to":[8,31,63,96,105],"efficiently":[9],"generate":[10],"collision-free":[11],"optimal":[12],"trajectories":[13,44],"for":[14],"multiple":[15],"non-holonomic":[16],"mobile":[17],"robots":[18],"in":[19,74],"obstacle-rich":[20],"environments.":[21],"Our":[22],"first":[24],"employs":[25],"graph-based":[27],"multi-agent":[28],"path":[29],"planner":[30],"find":[32],"an":[33],"initial":[34],"discrete":[35],"solution,":[36],"and":[37,56,90,129,135],"then":[38],"refines":[39],"solution":[41],"into":[42,53],"smooth":[43],"using":[45],"nonlinear":[46],"optimization.":[47],"We":[48],"divide":[49],"the":[50,65,68,79,98,106,110,114,123,126,133,138],"robot":[51],"team":[52],"small":[54,120],"groups":[55],"propose":[57],"prioritized":[59],"trajectory":[60,108],"optimization":[61,81],"method":[62],"improve":[64],"scalability":[66],"of":[67,78,100,125,137],"algorithm.":[69],"Infeasible":[70],"sub-problems":[71],"may":[72],"arise":[73],"some":[75],"scenarios":[76],"because":[77],"decoupled":[80],"framework.":[82],"To":[83],"handle":[84],"problem,":[86],"grouping":[89],"priority":[91],"assignment":[92],"strategy":[93],"is":[94],"developed":[95],"increase":[97],"probability":[99],"finding":[101],"feasible":[102],"trajectories.":[103],"Compared":[104],"coupled":[107],"optimization,":[109],"proposed":[111,139],"reduces":[113],"computation":[115],"time":[116],"considerably":[117],"with":[118],"impact":[121],"on":[122],"optimality":[124],"plans.":[127],"Simulations":[128],"hardware":[130],"experiments":[131],"verified":[132],"effectiveness":[134],"superiority":[136],"approach.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":7}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2020-12-21T00:00:00"}