{"id":"https://openalex.org/W4293117628","doi":"https://doi.org/10.1109/robio54168.2021.9739521","title":"Hierarchical platoon motion planning strategy based on leader-follower structure","display_name":"Hierarchical platoon motion planning strategy based on leader-follower structure","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4293117628","doi":"https://doi.org/10.1109/robio54168.2021.9739521"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739521","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/A5021274599","display_name":"Lingli Yu","orcid":"https://orcid.org/0000-0002-3690-8569"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lingli Yu","raw_affiliation_strings":["Central South University,Department of Automation,Changsha,China,410083"],"affiliations":[{"raw_affiliation_string":"Central South University,Department of Automation,Changsha,China,410083","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025799165","display_name":"Zhengjiu Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengjiu Wang","raw_affiliation_strings":["Central South University,Department of Automation,Changsha,China,410083"],"affiliations":[{"raw_affiliation_string":"Central South University,Department of Automation,Changsha,China,410083","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023272542","display_name":"Zongxu Kuang","orcid":null},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongxu Kuang","raw_affiliation_strings":["Central South University,Department of Automation,Changsha,China,410083"],"affiliations":[{"raw_affiliation_string":"Central South University,Department of Automation,Changsha,China,410083","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021274599"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37604846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1599","last_page":"1604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9993000030517578,"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/platoon","display_name":"Platoon","score":0.932963490486145},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7764825820922852},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6935766935348511},{"id":"https://openalex.org/keywords/quintic-function","display_name":"Quintic function","score":0.6700742244720459},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.5607013702392578},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5599624514579773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5572917461395264},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46588438749313354},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.436586856842041},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4228581488132477},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.4189884662628174},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2861863970756531},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24990585446357727},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1984694004058838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18653935194015503},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07659938931465149}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.932963490486145},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7764825820922852},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6935766935348511},{"id":"https://openalex.org/C124966035","wikidata":"https://www.wikidata.org/wiki/Q33104507","display_name":"Quintic function","level":3,"score":0.6700742244720459},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.5607013702392578},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5599624514579773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5572917461395264},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46588438749313354},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.436586856842041},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4228581488132477},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.4189884662628174},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2861863970756531},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24990585446357727},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1984694004058838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18653935194015503},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07659938931465149},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/robio54168.2021.9739521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739521","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":[{"score":0.699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4286572054","https://openalex.org/W2555207388","https://openalex.org/W3171462553","https://openalex.org/W2983996496","https://openalex.org/W3189590538","https://openalex.org/W4389240635","https://openalex.org/W2461853023","https://openalex.org/W2136133395","https://openalex.org/W2935722734","https://openalex.org/W3102129050"],"abstract_inverted_index":{"Platoon":[0],"technology":[1],"provides":[2],"new":[3],"solutions":[4],"for":[5,18,60],"safe":[6],"travel,":[7],"energy-saving,":[8],"and":[9,41,56,73,101,113],"emission":[10],"reduction.":[11],"In":[12],"this":[13],"paper,":[14],"a":[15,25,50],"leader-follower":[16],"structure":[17],"platoon":[19],"motion":[20],"planning":[21],"is":[22,37,67],"proposed,":[23],"using":[24],"hierarchical":[26],"strategy.":[27],"First":[28],"of":[29,43,109],"all,":[30],"trajectories":[31,76],"generation":[32],"based":[33,79],"on":[34,80],"quintic":[35,65],"polynomial":[36,66],"presented.":[38],"The":[39],"state":[40],"trajectory":[42,71,96],"the":[44,54,61,64,74,81,85,104,107,110],"preceding":[45],"vehicle":[46],"are":[47,77,91],"used":[48],"as":[49],"reference":[51],"to":[52,69,93,97],"constrain":[53],"lateral":[55],"longitudinal":[57],"feasible":[58],"space":[59],"follower.":[62],"Meanwhile,":[63],"adopted":[68],"generate":[70],"clusters":[72],"optimal":[75],"selected":[78],"multi-objective":[82],"evaluation.":[83],"Then,":[84],"independent":[86],"receding":[87],"horizon":[88],"optimization":[89],"modules":[90],"utilized":[92],"optimize":[94],"each":[95],"make":[98],"them":[99],"smoother":[100],"safer.":[102],"Finally,":[103],"simulation":[105],"shows":[106],"advantages":[108],"proposed":[111],"method,":[112],"evaluation":[114],"results":[115],"demonstrate":[116],"our":[117],"method":[118],"avoids":[119],"dimensional":[120],"explosion":[121]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}