{"id":"https://openalex.org/W4391620784","doi":"https://doi.org/10.1109/lra.2024.3363543","title":"Multi-Agent Motion Planning With B\u00e9zier Curve Optimization Under Kinodynamic Constraints","display_name":"Multi-Agent Motion Planning With B\u00e9zier Curve Optimization Under Kinodynamic Constraints","publication_year":2024,"publication_date":"2024-02-07","ids":{"openalex":"https://openalex.org/W4391620784","doi":"https://doi.org/10.1109/lra.2024.3363543"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3363543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3363543","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/A5080145345","display_name":"Jingtian Yan","orcid":"https://orcid.org/0000-0001-6717-2788"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingtian Yan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6717-2788","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101499733","display_name":"Jiaoyang Li","orcid":"https://orcid.org/0000-0002-0032-1758"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaoyang Li","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0032-1758","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.0656,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92354061,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"3021","last_page":"3028"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9847000241279602,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9783999919891357,"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/intersection","display_name":"Intersection (aeronautics)","score":0.7114946842193604},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6982424259185791},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.656097948551178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5900534391403198},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5822899341583252},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5693315267562866},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5426746606826782},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5130513906478882},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5123182535171509},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4853431284427643},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4761348068714142},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4745534062385559},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4374939799308777},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4124254584312439},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3866485357284546},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3744133710861206},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3620292544364929},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27809154987335205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2571510672569275},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14466682076454163},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07100039720535278}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7114946842193604},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6982424259185791},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.656097948551178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5900534391403198},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5822899341583252},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5693315267562866},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5426746606826782},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5130513906478882},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5123182535171509},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4853431284427643},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4761348068714142},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4745534062385559},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4374939799308777},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4124254584312439},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3866485357284546},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3744133710861206},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3620292544364929},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27809154987335205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2571510672569275},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14466682076454163},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07100039720535278},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3363543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3363543","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7200000286102295}],"awards":[{"id":"https://openalex.org/G5291023208","display_name":null,"funder_award_id":"2328671","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320306185","display_name":"Richard King Mellon Foundation","ror":"https://ror.org/03qevzg44"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1989407213","https://openalex.org/W2043530786","https://openalex.org/W2117211893","https://openalex.org/W2168424616","https://openalex.org/W2292985786","https://openalex.org/W2577017106","https://openalex.org/W2579451340","https://openalex.org/W2765862824","https://openalex.org/W2903998385","https://openalex.org/W2913211223","https://openalex.org/W2964997335","https://openalex.org/W2965230525","https://openalex.org/W3037164939","https://openalex.org/W3146836655","https://openalex.org/W3175724379","https://openalex.org/W3177356943","https://openalex.org/W3187649900","https://openalex.org/W4210600503","https://openalex.org/W4213134887","https://openalex.org/W4382202860","https://openalex.org/W4382202871"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Multi-Agent":[0,32],"Motion":[1],"Planning":[2],"(MAMP)":[3],"is":[4,26],"a":[5,17,48,78],"problem":[6],"that":[7],"seeks":[8],"collision-free":[9,45],"dynamically-feasible":[10],"trajectories":[11],"for":[12,47,118,126],"multiple":[13],"moving":[14],"agents":[15,99],"in":[16,43,135,146],"known":[18],"environment":[19],"while":[20,142],"minimizing":[21],"their":[22,69],"travel":[23],"time.":[24],"MAMP":[25],"closely":[27],"related":[28],"to":[29,84,132,139],"the":[30,58,62,86,94,98,112],"well-studied":[31],"Path-Finding":[33],"(MAPF)":[34],"problem.":[35],"Recently,":[36],"MAPF":[37],"methods":[38,55,141],"have":[39],"achieved":[40],"great":[41],"success":[42],"finding":[44],"paths":[46],"substantial":[49],"number":[50],"of":[51,61,97,114],"agents.":[52],"However,":[53],"those":[54],"often":[56],"overlook":[57],"kinodynamic":[59,95],"constraints":[60],"agents,":[63],"assuming":[64],"instantaneous":[65],"movement,":[66],"which":[67],"limits":[68],"practicality":[70],"and":[71,100,121],"realism.":[72],"In":[73],"this":[74],"paper,":[75],"we":[76,108],"present":[77],"three-level":[79],"MAPF-based":[80],"planner":[81],"called":[82],"PSB":[83,91,110,129],"address":[85],"challenges":[87],"posed":[88],"by":[89],"MAMP.":[90],"fully":[92],"considers":[93],"capability":[96],"produces":[101],"solutions":[102],"with":[103],"smooth":[104],"speed":[105],"profiles.":[106],"Empirically,":[107],"evaluate":[109],"within":[111],"domains":[113],"traffic":[115],"intersection":[116],"coordination":[117],"autonomous":[119],"vehicles":[120],"obstacle-rich":[122],"grid":[123],"map":[124],"navigation":[125],"mobile":[127],"robots.":[128],"shows":[130],"up":[131],"49.79%":[133],"improvements":[134],"solution":[136],"cost":[137],"compared":[138],"existing":[140],"achieving":[143],"significant":[144],"improvement":[145],"scalability.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}