{"id":"https://openalex.org/W4206628717","doi":"https://doi.org/10.1109/lra.2021.3132923","title":"On the Efficiency of the SST Planner to Find Time Optimal Trajectories Among Obstacles With a DDR Under Second Order Dynamics","display_name":"On the Efficiency of the SST Planner to Find Time Optimal Trajectories Among Obstacles With a DDR Under Second Order Dynamics","publication_year":2021,"publication_date":"2021-12-07","ids":{"openalex":"https://openalex.org/W4206628717","doi":"https://doi.org/10.1109/lra.2021.3132923"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3132923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3132923","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/A5112732733","display_name":"R. Arteaga","orcid":null},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Richard Arteaga","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018100703","display_name":"Emmanuel Antonio","orcid":"https://orcid.org/0000-0002-1929-0533"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Emmanuel Antonio","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-1929-0533","affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039879856","display_name":"Israel Becerra","orcid":"https://orcid.org/0000-0002-9788-1128"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]},{"id":"https://openalex.org/I4210163111","display_name":"Secretar\u00eda de Ciencia, Humanidades, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"government","lineage":["https://openalex.org/I4210163111"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Israel Becerra","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico","C\u00e1tedras CONACyT, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-9788-1128","affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]},{"raw_affiliation_string":"C\u00e1tedras CONACyT, Mexico City, Mexico","institution_ids":["https://openalex.org/I4210163111"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001442360","display_name":"Rafael Murrieta-Cid","orcid":"https://orcid.org/0000-0002-8334-5287"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rafael Murrieta-Cid","raw_affiliation_strings":["Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-8334-5287","affiliations":[{"raw_affiliation_string":"Center for Research in Mathematics CIMAT AC, Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112732733"],"corresponding_institution_ids":["https://openalex.org/I124618812"],"apc_list":null,"apc_paid":null,"fwci":0.3884,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62867392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"7","issue":"2","first_page":"674","last_page":"681"},"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":0.9907000064849854,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.989799976348877,"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/trajectory","display_name":"Trajectory","score":0.766154408454895},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6099212765693665},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.5762485861778259},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5722083449363708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5501211881637573},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4998188018798828},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4930824935436249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47566765546798706},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4740676283836365},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.455949604511261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44348061084747314},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43563586473464966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20778319239616394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1795148253440857},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10124298930168152}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.766154408454895},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6099212765693665},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.5762485861778259},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5722083449363708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5501211881637573},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4998188018798828},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4930824935436249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47566765546798706},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4740676283836365},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.455949604511261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44348061084747314},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43563586473464966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20778319239616394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1795148253440857},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10124298930168152},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3132923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3132923","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307102","display_name":"Intel Corporation","ror":"https://ror.org/01ek73717"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W50548338","https://openalex.org/W1424654272","https://openalex.org/W1509540129","https://openalex.org/W1587799944","https://openalex.org/W1971086298","https://openalex.org/W1985578018","https://openalex.org/W2000194319","https://openalex.org/W2000359213","https://openalex.org/W2036016432","https://openalex.org/W2054585537","https://openalex.org/W2055014394","https://openalex.org/W2071401582","https://openalex.org/W2078536073","https://openalex.org/W2132990760","https://openalex.org/W2136323427","https://openalex.org/W2137995770","https://openalex.org/W2148970883","https://openalex.org/W2166077797","https://openalex.org/W2889786920","https://openalex.org/W2912551019","https://openalex.org/W3089866190","https://openalex.org/W3196075878","https://openalex.org/W3206157858","https://openalex.org/W3206936826","https://openalex.org/W6765866338"],"related_works":["https://openalex.org/W2045049461","https://openalex.org/W1978893398","https://openalex.org/W2201908702","https://openalex.org/W4381094582","https://openalex.org/W2369625323","https://openalex.org/W2364579609","https://openalex.org/W1977906818","https://openalex.org/W1522139108","https://openalex.org/W2353528968","https://openalex.org/W2032776242"],"abstract_inverted_index":{"In":[0,41],"this":[1],"work,":[2],"we":[3,43,104,133],"study":[4,44,138],"a":[5,14,21,28,88,117],"sampling":[6],"based":[7],"motion":[8],"planner":[9,71],"able":[10],"to":[11,19,27],"deal":[12],"with":[13,39],"kinodynamic":[15],"problem.":[16],"We":[17,158],"want":[18],"move":[20],"robot":[22,120],"from":[23],"an":[24,37,136],"initial":[25],"state":[26],"final":[29],"one,":[30],"along":[31],"the":[32,45,52,59,68,76,84,98,101,107,128,131,140,146,149,165,168],"minimum":[33],"cost":[34,86],"trajectory":[35],"in":[36,73],"environment":[38],"obstacles.":[40],"particular,":[42],"effect":[46],"of":[47,75,87,100,109,130,142,148,152,167],"using":[48],"extremal":[49,143,162],"controls":[50,144,163],"as":[51],"inputs":[53],"for":[54,116,154],"two":[55],"sampling-based":[56],"algorithms,":[57],"namely,":[58],"Stable":[60],"Sparse":[61],"Rapidly":[62],"Exploring":[63],"Random":[64],"Tree":[65],"(SST),":[66],"and":[67,83,96],"asymptotically":[69],"optimal":[70,112],"SST*,":[72],"terms":[74],"speed":[77],"at":[78],"which":[79],"such":[80],"methods":[81],"converge":[82],"resulting":[85],"given":[89],"stable":[90],"trajectory.":[91],"To":[92,125],"exemplify":[93],"our":[94],"analysis":[95],"demonstrate":[97],"usefulness":[99],"present":[102,135],"study,":[103],"elaborate":[105],"on":[106],"case":[108],"finding":[110],"time":[111],"trajectories":[113],"among":[114],"obstacles":[115],"differential":[118],"drive":[119],"(DDR)":[121],"considering":[122],"second-order":[123],"dynamics.":[124],"further":[126],"show":[127],"generality":[129],"approach,":[132],"also":[134],"experimental":[137],"comparing":[139],"use":[141,147],"against":[145],"entire":[150],"range":[151],"controls,":[153],"other":[155],"four":[156],"systems.":[157],"found":[159],"that":[160],"utilizing":[161],"improves":[164],"convergence":[166],"addressed":[169],"algorithms.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}