{"id":"https://openalex.org/W2145471998","doi":"https://doi.org/10.1109/robot.2004.1308759","title":"Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots","display_name":"Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2145471998","doi":"https://doi.org/10.1109/robot.2004.1308759","mag":"2145471998"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},"type":"conference-paper","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/A5110132812","display_name":"R. K. BHATT","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]},{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Bhatt","raw_affiliation_strings":["Mechanical & Aerospace Engineering, State University of New York, University at Buffalo, Buffalo, NY, USA","Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical & Aerospace Engineering, State University of New York, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I57206974","https://openalex.org/I63190737"]},{"raw_affiliation_string":"Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067067387","display_name":"Chin Pei Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]},{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chin Pei Tang","raw_affiliation_strings":["Mechanical & Aerospace Engineering, State University of New York, University at Buffalo, Buffalo, NY, USA","Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical & Aerospace Engineering, State University of New York, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I57206974","https://openalex.org/I63190737"]},{"raw_affiliation_string":"Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049231295","display_name":"Venkat Krovi","orcid":"https://orcid.org/0000-0003-2539-896X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]},{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Krovi","raw_affiliation_strings":["Mechanical & Aerospace Engineering, State University of New York, University at Buffalo, Buffalo, NY, USA","Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical & Aerospace Engineering, State University of New York, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I57206974","https://openalex.org/I63190737"]},{"raw_affiliation_string":"Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6647,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.84394283,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3276","last_page":"3281 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8070075511932373},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7879207134246826},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7657759189605713},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.683147668838501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6393553018569946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5950780510902405},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5730636715888977},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46224120259284973},{"id":"https://openalex.org/keywords/relative-motion","display_name":"Relative motion","score":0.41106978058815},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3399859666824341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3249324858188629},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.166624516248703},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.052789151668548584},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.05270886421203613}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8070075511932373},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7879207134246826},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7657759189605713},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.683147668838501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6393553018569946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5950780510902405},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5730636715888977},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46224120259284973},{"id":"https://openalex.org/C2988640725","wikidata":"https://www.wikidata.org/wiki/Q1376323","display_name":"Relative motion","level":2,"score":0.41106978058815},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3399859666824341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3249324858188629},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.166624516248703},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.052789151668548584},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.05270886421203613},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1308759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332203","display_name":"Research Foundation for the State University of New York","ror":"https://ror.org/01sfc5174"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1483882723","https://openalex.org/W1499421690","https://openalex.org/W1517023801","https://openalex.org/W1522365498","https://openalex.org/W1533117844","https://openalex.org/W1564897360","https://openalex.org/W2044526330","https://openalex.org/W2099397914","https://openalex.org/W2099630327","https://openalex.org/W2104348212","https://openalex.org/W2115775310","https://openalex.org/W2117148399","https://openalex.org/W2119120935","https://openalex.org/W2119476348","https://openalex.org/W2130647945","https://openalex.org/W2137714578","https://openalex.org/W2147928602","https://openalex.org/W2158386911","https://openalex.org/W2161229436","https://openalex.org/W2163431256","https://openalex.org/W2166952533","https://openalex.org/W2914650196","https://openalex.org/W2936405433","https://openalex.org/W3217246742","https://openalex.org/W6631817498"],"related_works":["https://openalex.org/W2135584875","https://openalex.org/W2020829486","https://openalex.org/W2383775285","https://openalex.org/W1904098742","https://openalex.org/W2016451691","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,12,90],"geometric":[6],"method":[7],"for":[8,11,40,62,88,98],"motion":[9,38,56],"planning":[10],"fleet":[13],"of":[14,53,65],"differentially-driven":[15],"wheeled":[16,43],"mobile":[17,44],"robots":[18],"moving":[19],"in":[20,71],"formation,":[21],"which":[22],"explicitly":[23],"takes":[24],"into":[25],"account":[26],"their":[27,85],"nonholonomic":[28],"constraints.":[29],"The":[30,93],"relative":[31,86],"position":[32],"within":[33],"the":[34,51,63,81],"formation":[35,83],"induces":[36],"different":[37],"plans":[39,57],"each":[41,66],"individual":[42,75],"robot":[45],"(WMR).":[46],"We":[47],"can":[48],"quantitatively":[49],"evaluate":[50],"performance":[52,69],"such":[54],"induced":[55],"using":[58,104],"suitable":[59],"metrics":[60,70],"defined":[61],"motions":[64],"WMR.":[67],"These":[68],"cumulative":[72],"form":[73,76],"or":[74],"are":[77],"used":[78],"to":[79],"optimize":[80],"overall":[82],"(i.e.,":[84],"positions)":[87],"performing":[89],"given":[91],"task.":[92],"approach":[94],"is":[95,102],"well":[96],"suited":[97],"online":[99],"implementation":[100],"and":[101],"demonstrated":[103],"case":[105],"studies.":[106]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
