{"id":"https://openalex.org/W3127566536","doi":"https://doi.org/10.1109/lra.2021.3056346","title":"Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization","display_name":"Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3127566536","doi":"https://doi.org/10.1109/lra.2021.3056346","mag":"3127566536"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3056346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3056346","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":["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/A5100608938","display_name":"Bai Li","orcid":"https://orcid.org/0000-0002-8966-8992"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Li","raw_affiliation_strings":["Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-8966-8992","affiliations":[{"raw_affiliation_string":"Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072325655","display_name":"Yakun Ouyang","orcid":"https://orcid.org/0000-0002-2581-0451"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yakun Ouyang","raw_affiliation_strings":["Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Concordia University, Montreal, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9731-5943","affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084367490","display_name":"Tankut Acarman","orcid":"https://orcid.org/0000-0003-4169-1189"},"institutions":[{"id":"https://openalex.org/I94294566","display_name":"Galatasaray University","ror":"https://ror.org/00btgsb62","country_code":"TR","type":"education","lineage":["https://openalex.org/I94294566"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Tankut Acarman","raw_affiliation_strings":["Galatasaray University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0003-4169-1189","affiliations":[{"raw_affiliation_string":"Galatasaray University, Istanbul, Turkey","institution_ids":["https://openalex.org/I94294566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023365320","display_name":"Qi Kong","orcid":"https://orcid.org/0000-0003-2867-7382"},"institutions":[{"id":"https://openalex.org/I72427458","display_name":"JDSU (United States)","ror":"https://ror.org/01a5v8x09","country_code":"US","type":"company","lineage":["https://openalex.org/I72427458"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Kong","raw_affiliation_strings":["JDX R&D Center, JD.com American Technologies Corporation, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JDX R&D Center, JD.com American Technologies Corporation, Mountain View, CA, USA","institution_ids":["https://openalex.org/I72427458"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100886581","display_name":"Zhijiang Shao","orcid":"https://orcid.org/0000-0003-3016-4658"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijiang Shao","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1456,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.95296286,"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":"1511","last_page":"1518"},"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":0.996399998664856,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6703239679336548},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.6447202563285828},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6323437690734863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6241351366043091},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5921471118927002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5464531183242798},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5118009448051453},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5075079798698425},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5053449273109436},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4901483952999115},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4773690402507782},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.47534748911857605},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.46028628945350647},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4135090708732605},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23603129386901855},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2353990375995636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21022984385490417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16277214884757996},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1426641047000885},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13372501730918884},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0741376280784607}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6703239679336548},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.6447202563285828},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6323437690734863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6241351366043091},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5921471118927002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5464531183242798},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5118009448051453},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5075079798698425},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5053449273109436},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4901483952999115},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4773690402507782},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.47534748911857605},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.46028628945350647},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4135090708732605},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23603129386901855},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2353990375995636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21022984385490417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16277214884757996},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1426641047000885},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13372501730918884},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0741376280784607},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3056346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3056346","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.5}],"awards":[{"id":"https://openalex.org/G2328643749","display_name":null,"funder_award_id":"531118010509","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1489244333","https://openalex.org/W1601512022","https://openalex.org/W1996183429","https://openalex.org/W2046344033","https://openalex.org/W2062731992","https://openalex.org/W2123871098","https://openalex.org/W2136207702","https://openalex.org/W2343568200","https://openalex.org/W2549200707","https://openalex.org/W2606324808","https://openalex.org/W2761151150","https://openalex.org/W2774342010","https://openalex.org/W2786741601","https://openalex.org/W2787876816","https://openalex.org/W2790268363","https://openalex.org/W2913521839","https://openalex.org/W2950619474","https://openalex.org/W2962896691","https://openalex.org/W2963809389","https://openalex.org/W2964336994","https://openalex.org/W2972941110","https://openalex.org/W3012553802","https://openalex.org/W3094461361","https://openalex.org/W3099578266"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2383775285","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670"],"abstract_inverted_index":{"This":[0,90],"letter":[1],"is":[2,119,174,182],"focused":[3],"on":[4],"the":[5,29,32,38,43,46,51,55,63,70,80,83,102,105,139,142,144,155,177],"time-optimal":[6,59],"Multi-Vehicle":[7],"Trajectory":[8],"Planning":[9],"(MVTP)":[10],"problem":[11,109],"for":[12,57,69],"multiple":[13],"car-like":[14,193],"robots":[15],"when":[16,75],"they":[17],"travel":[18],"in":[19,110,138,184],"a":[20,58,111,132,169,189],"tiny":[21],"indoor":[22],"scenario":[23],"occupied":[24],"by":[25,188],"static":[26],"obstacles.":[27],"Herein,":[28],"complexity":[30],"of":[31,42,50,65,82,104,168,191],"concerned":[33],"MVTP":[34,88,108,179],"task":[35],"includes":[36],"i)":[37],"non-convexity":[39],"and":[40,48,61,164,181],"narrowness":[41],"environment,":[44],"ii)":[45],"nonholonomy":[47],"nonlinearity":[49],"vehicle":[52],"kinematics,":[53],"iii)":[54],"pursuit":[56],"solution,":[60],"iv)":[62],"absence":[64],"predefined":[66],"homotopic":[67],"routes":[68],"vehicles.":[71],"The":[72],"aforementioned":[73],"factors,":[74],"mixed":[76],"together,":[77],"are":[78],"beyond":[79],"capability":[81],"prevalent":[84],"coupled":[85],"or":[86],"decoupled":[87,112],"methods.":[89],"work":[91],"proposes":[92],"an":[93,115,161],"adaptive-scaling":[94],"constrained":[95],"optimization":[96],"(ASCO)":[97],"approach,":[98],"aiming":[99],"to":[100,153,158,165],"find":[101],"optimum":[103],"nominally":[106],"intractable":[107],"way.":[113],"Concretely,":[114],"iterative":[116],"computation":[117],"framework":[118],"built,":[120],"wherein":[121],"each":[122],"intermediate":[123,162],"subproblem":[124],"contains":[125],"only":[126],"risky":[127],"collision":[128],"avoidance":[129],"constraints":[130],"within":[131],"certain":[133],"range,":[134],"thus":[135],"being":[136],"tractable":[137],"scale.":[140],"During":[141],"iteration,":[143],"constraint":[145],"activation":[146],"scale":[147],"can":[148],"change":[149],"adaptively,":[150],"thereby":[151],"enabling":[152],"promote":[154],"convergence":[156],"rate,":[157],"recover":[159],"from":[160],"failure,":[163],"get":[166],"rid":[167],"poor":[170],"initial":[171],"guess.":[172],"ASCO":[173],"compared":[175],"versus":[176],"state-of-the-art":[178],"methods":[180],"validated":[183],"real":[185],"experiments":[186],"conducted":[187],"team":[190],"three":[192],"robots.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}