{"id":"https://openalex.org/W4403721521","doi":"https://doi.org/10.1109/lra.2024.3486235","title":"Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming","display_name":"Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming","publication_year":2024,"publication_date":"2024-10-24","ids":{"openalex":"https://openalex.org/W4403721521","doi":"https://doi.org/10.1109/lra.2024.3486235"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3486235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3486235","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/A5100413222","display_name":"Yulin Li","orcid":"https://orcid.org/0000-0001-6907-5594"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yulin Li","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020777672","display_name":"Chunxin Zheng","orcid":"https://orcid.org/0009-0006-7193-2560"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunxin Zheng","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438011","display_name":"Kai Chen","orcid":"https://orcid.org/0009-0001-1321-5217"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018943277","display_name":"Yusen Xie","orcid":"https://orcid.org/0000-0002-6735-2866"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yusen Xie","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009617931","display_name":"Xindong Tang","orcid":"https://orcid.org/0000-0002-4951-768X"},"institutions":[{"id":"https://openalex.org/I141568987","display_name":"Hong Kong Baptist University","ror":"https://ror.org/0145fw131","country_code":"HK","type":"education","lineage":["https://openalex.org/I141568987"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xindong Tang","raw_affiliation_strings":["Department of Mathematics, Hong Kong Baptist University, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Hong Kong Baptist University, Hong Kong SAR, China","institution_ids":["https://openalex.org/I141568987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I4396570619","display_name":"Great Bay University","ror":"https://ror.org/01hdgge16","country_code":null,"type":"education","lineage":["https://openalex.org/I4396570619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["School of Engineering, Great Bay University, Dongguan, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Great Bay University, Dongguan, China","institution_ids":["https://openalex.org/I4396570619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053340150","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-9405-8232"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100413222"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2436,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89524928,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"11026","last_page":"11033"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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":0.9973000288009644,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9652000069618225,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9635000228881836,"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/trajectory","display_name":"Trajectory","score":0.6708978414535522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5234560370445251},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.49817466735839844},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.48359793424606323},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.46265679597854614},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42743241786956787},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3654212951660156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3504810929298401},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32940375804901123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32469695806503296},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.14513665437698364},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1026548445224762},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07805269956588745}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6708978414535522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5234560370445251},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.49817466735839844},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.48359793424606323},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.46265679597854614},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42743241786956787},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3654212951660156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3504810929298401},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32940375804901123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32469695806503296},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.14513665437698364},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1026548445224762},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07805269956588745},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3486235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3486235","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:repository.hkust.edu.hk:1783.1-144889","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-144889","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1551360398","https://openalex.org/W1964603869","https://openalex.org/W2054585537","https://openalex.org/W2083449425","https://openalex.org/W2123871098","https://openalex.org/W2142224528","https://openalex.org/W2587415290","https://openalex.org/W2774021736","https://openalex.org/W3004162504","https://openalex.org/W3090649643","https://openalex.org/W3180158572","https://openalex.org/W4225390809","https://openalex.org/W4255442211","https://openalex.org/W4281401239","https://openalex.org/W4285102592","https://openalex.org/W4287617987","https://openalex.org/W4297510490","https://openalex.org/W4366457166","https://openalex.org/W4381623550","https://openalex.org/W4383108947","https://openalex.org/W4388314278","https://openalex.org/W4388692454","https://openalex.org/W4391407153","https://openalex.org/W4403749610","https://openalex.org/W6873396397"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871","https://openalex.org/W2119925415"],"abstract_inverted_index":{"In":[0],"this":[1,174],"work,":[2],"we":[3,69,141],"propose":[4],"a":[5,22,47,65,71,81,107,143,172,191],"trajectory":[6,63,133,187,200],"optimization":[7,84,101,134,188,201],"approach":[8,202],"for":[9,53,75,146],"robot":[10,149],"navigation":[11],"in":[12,182,205,215,219],"cluttered":[13],"3D":[14],"environments.":[15,223],"We":[16,39],"represent":[17],"the":[18,41,54,62,90,96,112,122,126,132,137,148,153,159,162,165,169,177,186,198,210],"robot's":[19],"geometry":[20],"as":[21],"semialgebraic":[23],"set":[24],"defined":[25],"by":[26,157],"polynomial":[27],"inequalities":[28],"such":[29],"that":[30],"robots":[31,94],"with":[32,136],"general":[33],"shapes":[34],"can":[35],"be":[36,118],"suitably":[37],"characterized.":[38],"exploit":[40],"collision-free":[42,113,217],"space":[43],"directly":[44],"to":[45,64,106,117,120,130,151],"construct":[46],"graph":[48],"of":[49,161,168,179,185,193],"free":[50,77,97],"regions,":[51],"search":[52],"reference":[55],"path,":[56],"and":[57,79,95,111,195,209,221],"allocate":[58],"each":[59,76],"waypoint":[60],"on":[61],"specific":[66],"region.":[67],"Then,":[68],"incorporate":[70],"uniform":[72],"scaling":[73,123,155],"factor":[74,124,156],"region":[78],"formulate":[80],"Sums-of-Squares":[82],"(SOS)":[83],"problem":[85,102,135],"whose":[86],"optimal":[87],"solutions":[88],"reveal":[89],"containment":[91],"relationship":[92],"between":[93],"space.":[98],"The":[99],"SOS":[100],"is":[103,203],"further":[104],"reformulated":[105],"semidefinite":[108],"program":[109],"(SDP),":[110],"constraints":[114],"are":[115],"shown":[116],"equivalent":[119],"limiting":[121],"along":[125],"entire":[127],"trajectory.":[128],"Next,":[129],"solve":[131],"proposed":[138,199],"safety":[139],"constraints,":[140],"derive":[142],"guiding":[144],"direction":[145],"updating":[147],"configuration":[150],"decrease":[152],"minimum":[154],"calculating":[158],"gradient":[160],"Lagrangian":[163],"at":[164],"primal-dual":[166],"optimum":[167],"SDP.":[170],"As":[171],"result,":[173],"seamlessly":[175],"facilitates":[176],"use":[178],"gradient-based":[180],"methods":[181],"efficient":[183],"solving":[184],"problem.":[189],"Through":[190],"series":[192],"simulations":[194],"real-world":[196],"experiments,":[197],"validated":[204],"various":[206],"challenging":[207],"scenarios,":[208],"results":[211],"demonstrate":[212],"its":[213],"effectiveness":[214],"generating":[216],"trajectories":[218],"dense":[220],"intricate":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
