{"id":"https://openalex.org/W4226128552","doi":"https://doi.org/10.1109/robio54168.2021.9739220","title":"Fast and Efficient Trajectory Generation for Ball Interception Using Motion Primitives","display_name":"Fast and Efficient Trajectory Generation for Ball Interception Using Motion Primitives","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226128552","doi":"https://doi.org/10.1109/robio54168.2021.9739220"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739220","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100764063","display_name":"Haoran Ren","orcid":"https://orcid.org/0000-0002-3322-1745"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoran Ren","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608030","display_name":"Kaihong Huang","orcid":"https://orcid.org/0000-0002-2424-8524"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaihong Huang","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058088662","display_name":"Zhiqian Zhou","orcid":"https://orcid.org/0000-0002-9407-075X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqian Zhou","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100648909","display_name":"Xiao Li","orcid":"https://orcid.org/0000-0001-8613-4779"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Li","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002039721","display_name":"Zongtan Zhou","orcid":"https://orcid.org/0000-0002-6423-8603"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongtan Zhou","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100764063"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22796659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"692","last_page":"698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11439","display_name":"Video Analysis and Summarization","score":0.9966999888420105,"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/T11439","display_name":"Video Analysis and Summarization","score":0.9966999888420105,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/interception","display_name":"Interception","score":0.860612154006958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.752053439617157},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.7197631001472473},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6401107311248779},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6223728060722351},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5648686289787292},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5124645829200745},{"id":"https://openalex.org/keywords/soccer-robot","display_name":"Soccer robot","score":0.4783363342285156},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4434443712234497},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3787907361984253},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36803144216537476},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3226650059223175},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30526819825172424},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.26457950472831726},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10464385151863098}],"concepts":[{"id":"https://openalex.org/C61270487","wikidata":"https://www.wikidata.org/wiki/Q476843","display_name":"Interception","level":2,"score":0.860612154006958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.752053439617157},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7197631001472473},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6401107311248779},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6223728060722351},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5648686289787292},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5124645829200745},{"id":"https://openalex.org/C2781188825","wikidata":"https://www.wikidata.org/wiki/Q7550336","display_name":"Soccer robot","level":5,"score":0.4783363342285156},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4434443712234497},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3787907361984253},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36803144216537476},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3226650059223175},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30526819825172424},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26457950472831726},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10464385151863098},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739220","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Ball-interception":[0],"is":[1,57,73],"an":[2],"vital":[3],"strategic":[4],"operation":[5],"for":[6,24],"most":[7],"soccer":[8],"competitions.":[9],"This":[10],"paper":[11],"proposes":[12],"a":[13,25,34],"trajectory":[14,19],"generation":[15],"method":[16,42,56],"that":[17,70],"combines":[18],"prediction":[20],"and":[21,30,63,66,76],"motion":[22],"primitives":[23],"soccer-robot":[26],"to":[27,38],"perform":[28],"ball-passing":[29],"interception":[31],"operations":[32],"during":[33],"RoboCup":[35],"competition.":[36],"Compared":[37],"existing":[39],"algorithms,":[40],"our":[41,71],"has":[43],"better":[44,51],"real-time":[45],"replanning":[46],"capability":[47],"as":[48,50],"well":[49],"obstacle":[52],"avoidance":[53],"performance.":[54],"Our":[55],"thoroughly":[58],"tested":[59],"in":[60],"both":[61,74],"simulation":[62],"real-world":[64],"environments,":[65],"the":[67],"results":[68],"show":[69],"approach":[72],"efficient":[75],"robust.":[77]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}