{"id":"https://openalex.org/W4385236047","doi":"https://doi.org/10.1109/med59994.2023.10185762","title":"Spline-Based Dynamic Object Handling in Autonomous Vehicles: A Model-Based Path Planning Algorithm","display_name":"Spline-Based Dynamic Object Handling in Autonomous Vehicles: A Model-Based Path Planning Algorithm","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385236047","doi":"https://doi.org/10.1109/med59994.2023.10185762"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185762","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5025171478","display_name":"Aliki Stefanopoulou","orcid":"https://orcid.org/0000-0002-0026-6779"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Aliki Stefanopoulou","raw_affiliation_strings":["Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece"],"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","institution_ids":["https://openalex.org/I147962203"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007966326","display_name":"Socratis Gkelios","orcid":"https://orcid.org/0000-0002-1650-8074"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Socratis Gkelios","raw_affiliation_strings":["Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece"],"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","institution_ids":["https://openalex.org/I147962203"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046634751","display_name":"Athanasios Ch. Kapoutsis","orcid":"https://orcid.org/0000-0002-1688-036X"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Athanasios Ch. Kapoutsis","raw_affiliation_strings":["Information Technologies Institute, The Centre for Research &#x0026; Technology, Hellas,Thessaloniki,Greece"],"affiliations":[{"raw_affiliation_string":"Information Technologies Institute, The Centre for Research &#x0026; Technology, Hellas,Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071596476","display_name":"Elias B. Kosmatopoulos","orcid":"https://orcid.org/0000-0002-3735-4238"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Elias B. Kosmatopoulos","raw_affiliation_strings":["Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece"],"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","institution_ids":["https://openalex.org/I147962203"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011949101","display_name":"Yiannis S. Boutalis","orcid":null},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Yiannis S. Boutalis","raw_affiliation_strings":["Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece"],"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace,Department of Electrical and Computer Engineering,Xanthi,Greece","institution_ids":["https://openalex.org/I147962203"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece","institution_ids":["https://openalex.org/I147962203"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025171478"],"corresponding_institution_ids":["https://openalex.org/I147962203"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07620323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":null,"first_page":"348","last_page":"355"},"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":0.9987000226974487,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9968000054359436,"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/motion-planning","display_name":"Motion planning","score":0.7043815851211548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7020894289016724},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.5242117643356323},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49647241830825806},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4706277847290039},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4294377863407135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.411682665348053},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35183414816856384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16364961862564087},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14386224746704102}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7043815851211548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7020894289016724},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5242117643356323},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49647241830825806},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4706277847290039},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4294377863407135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.411682665348053},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35183414816856384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16364961862564087},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14386224746704102},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med59994.2023.10185762","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1763528081","https://openalex.org/W1950449841","https://openalex.org/W1971998222","https://openalex.org/W1990204866","https://openalex.org/W1993450261","https://openalex.org/W1996183429","https://openalex.org/W1999945010","https://openalex.org/W2028945152","https://openalex.org/W2032924574","https://openalex.org/W2045304032","https://openalex.org/W2075491114","https://openalex.org/W2100548780","https://openalex.org/W2113526778","https://openalex.org/W2127330529","https://openalex.org/W2128990851","https://openalex.org/W2144966261","https://openalex.org/W2148361676","https://openalex.org/W2151977651","https://openalex.org/W2167918262","https://openalex.org/W2186893758","https://openalex.org/W2193874540","https://openalex.org/W2295522034","https://openalex.org/W2343568200","https://openalex.org/W2404189583","https://openalex.org/W2744745135","https://openalex.org/W3103759471","https://openalex.org/W4237927740","https://openalex.org/W4295719664","https://openalex.org/W6745935785","https://openalex.org/W6785756575"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W2737719445","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0],"this":[1],"study":[2],"we":[3],"propose":[4],"a":[5,26,40,44,76,99],"model-based":[6],"dynamic":[7,21,63],"path":[8],"planning":[9],"algorithm":[10,53,88,113],"that":[11,110],"is":[12,30,47,98,114],"designed":[13],"to":[14,65,125],"navigate":[15],"Autonomous":[16],"Vehicles":[17],"through":[18],"complex":[19],"and":[20,43,62,119],"environments.":[22],"To":[23],"achieve":[24],"that,":[25],"novel":[27],"spline-based":[28],"approach":[29],"utilized":[31,48],"for":[32,49,70,79,102,122],"the":[33,67,71,111,123],"production":[34],"of":[35,116],"several":[36],"candidate":[37],"paths":[38,121],"along":[39],"predetermined":[41],"route":[42],"Gaussian-based":[45],"function":[46],"their":[50],"evaluation.":[51],"Our":[52],"takes":[54],"into":[55],"account":[56],"various":[57],"factors,":[58],"such":[59,80],"as":[60],"static":[61],"objects,":[64],"make":[66],"appropriate":[68],"decisions":[69],"vehicle\u2019s":[72],"path,":[73],"making":[74],"it":[75],"promising":[77],"solution":[78],"objects":[81],"during":[82],"an":[83],"autonomous":[84,104],"vehicle":[85,105,124],"navigation.":[86],"The":[87,107],"was":[89],"tested":[90],"in":[91],"high-fidelity":[92],"scenarios":[93],"using":[94],"CARLA":[95],"Simulator,":[96],"which":[97],"powerful":[100],"tool":[101],"simulating":[103],"scenarios.":[106],"results":[108],"indicate":[109],"proposed":[112],"capable":[115],"generating":[117],"efficient":[118],"safe":[120],"follow.":[126]},"counts_by_year":[],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
