{"id":"https://openalex.org/W4408710168","doi":"https://doi.org/10.1109/lra.2025.3553416","title":"Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation","display_name":"Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation","publication_year":2025,"publication_date":"2025-03-21","ids":{"openalex":"https://openalex.org/W4408710168","doi":"https://doi.org/10.1109/lra.2025.3553416"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3553416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553416","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/A5100458048","display_name":"Yuwei Wu","orcid":"https://orcid.org/0000-0003-4926-2530"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuwei Wu","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007431390","display_name":"Igor Spasojevic","orcid":"https://orcid.org/0000-0002-1035-9557"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Igor Spasojevic","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006038667","display_name":"Pratik Chaudhari","orcid":"https://orcid.org/0000-0003-4590-1956"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratik Chaudhari","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100458048"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":4.8723,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9467708,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"5","first_page":"4762","last_page":"4769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.986299991607666,"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":0.9232000112533569,"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/cover","display_name":"Cover (algebra)","score":0.7435778975486755},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7274968028068542},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.579770565032959},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5481385588645935},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5244424939155579},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4398796260356903},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33888453245162964},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33414456248283386},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24252364039421082},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17933160066604614},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09061166644096375},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07041358947753906}],"concepts":[{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.7435778975486755},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7274968028068542},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.579770565032959},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5481385588645935},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5244424939155579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4398796260356903},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33888453245162964},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33414456248283386},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24252364039421082},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17933160066604614},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09061166644096375},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07041358947753906},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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.2025.3553416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553416","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":[{"id":"https://openalex.org/G7028374112","display_name":null,"funder_award_id":"N00014-20-S-B001","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W187211397","https://openalex.org/W1030513622","https://openalex.org/W1424654272","https://openalex.org/W1605218591","https://openalex.org/W1971086298","https://openalex.org/W2051434435","https://openalex.org/W2058211699","https://openalex.org/W2077007971","https://openalex.org/W2086867325","https://openalex.org/W2090411045","https://openalex.org/W2138022941","https://openalex.org/W2158893758","https://openalex.org/W2162991084","https://openalex.org/W2414314951","https://openalex.org/W2482392012","https://openalex.org/W2561780869","https://openalex.org/W2587415290","https://openalex.org/W2743656927","https://openalex.org/W3023861162","https://openalex.org/W3029808435","https://openalex.org/W3034700465","https://openalex.org/W3046005546","https://openalex.org/W3123076862","https://openalex.org/W3135798748","https://openalex.org/W3198704020","https://openalex.org/W3206969010","https://openalex.org/W4229456580","https://openalex.org/W4285102255","https://openalex.org/W4292363360","https://openalex.org/W4312416570","https://openalex.org/W4313049632","https://openalex.org/W4383108733","https://openalex.org/W4391128519","https://openalex.org/W4401041664","https://openalex.org/W4401414183","https://openalex.org/W4401415415","https://openalex.org/W6783959383","https://openalex.org/W6862570694"],"related_works":["https://openalex.org/W4232403550","https://openalex.org/W3113932901","https://openalex.org/W623607250","https://openalex.org/W650625605","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4245429118","https://openalex.org/W4205110281","https://openalex.org/W4212927854","https://openalex.org/W4211151614"],"abstract_inverted_index":{"We":[0,112],"propose":[1],"an":[2],"online":[3],"iterative":[4,106],"algorithm":[5,107,119],"to":[6,11,19,46,59],"optimize":[7],"a":[8,30,81,95,103,121],"convex":[9,26,55],"cover":[10,27],"under-approximate":[12],"the":[13,36,39,54,61,114],"free":[14],"space":[15],"for":[16,49,130],"autonomous":[17],"navigation":[18],"delineate":[20],"Safe":[21],"Flight":[22],"Corridors":[23],"(SFC).":[24],"The":[25],"consists":[28],"of":[29,32,38,72,94,116,123],"set":[31],"polytopes":[33,40,71],"such":[34],"that":[35,51,63,75],"union":[37],"represents":[41],"obstacle-free":[42],"space,":[43],"allowing":[44],"us":[45],"find":[47,60,69],"trajectories":[48],"robots":[50],"lie":[52],"within":[53],"cover.":[56],"In":[57],"order":[58],"SFC":[62],"facilitates":[64],"trajectory":[65],"optimization,":[66],"we":[67],"iteratively":[68],"overlapping":[70],"maximum":[73],"volumes":[74],"include":[76],"specified":[77],"waypoints":[78,88],"initialized":[79],"by":[80,102],"geometric":[82],"or":[83],"kinematic":[84],"planner.":[85],"Constraints":[86],"at":[87],"appear":[89],"in":[90],"two":[91],"alternating":[92],"stages":[93],"joint":[96],"optimization":[97],"problem,":[98],"which":[99],"is":[100],"solved":[101],"novel":[104],"heuristic-based":[105],"with":[108],"partially":[109],"distributed":[110],"variables.":[111],"validate":[113],"effectiveness":[115],"our":[117],"proposed":[118],"using":[120],"range":[122],"parameterized":[124],"environments":[125],"and":[126],"show":[127],"its":[128],"applications":[129],"two-stage":[131],"motion":[132],"planning.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}