{"id":"https://openalex.org/W2111983383","doi":"https://doi.org/10.1109/robot.2005.1570261","title":"Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity","display_name":"Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2111983383","doi":"https://doi.org/10.1109/robot.2005.1570261","mag":"2111983383"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10453/2774","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","ARC Centre of Excellence for Autonomous Systems (CAS) Faculty of Engineering University of Technology, Sydney, Australia sdhuang@eng.uts.edu.au"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS) Faculty of Engineering University of Technology, Sydney, Australia sdhuang@eng.uts.edu.au","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019424682","display_name":"N. M. Kwok","orcid":"https://orcid.org/0000-0002-5430-6860"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"N.M. Kwok","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","[ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia]"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"[ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia]","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"G. Dissanayake","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","[ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia]"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"[ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia]","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069849643","display_name":"Q. P. Ha","orcid":"https://orcid.org/0000-0003-0978-1758"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Q.P. Ha","raw_affiliation_strings":["ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","[ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia]"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"[ARC Centre of Excellence for Autonomous Systems (CAS), Faculty of Engineering, University of Technology, Sydney, Australia]","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068677405","display_name":"Gu Fang","orcid":"https://orcid.org/0000-0003-3723-1665"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]},{"id":"https://openalex.org/I63525965","display_name":"Western Sydney University","ror":"https://ror.org/03t52dk35","country_code":"AU","type":"education","lineage":["https://openalex.org/I63525965"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"Gu Fang","raw_affiliation_strings":["School of Engineering, University of Western Ontario, Sydney, Australia","[School of Engineering, University of Western Ontario, Sydney, Australia]"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Western Ontario, Sydney, Australia","institution_ids":["https://openalex.org/I63525965"]},{"raw_affiliation_string":"[School of Engineering, University of Western Ontario, Sydney, Australia]","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5061250474"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":8.2188,"has_fulltext":true,"cited_by_count":82,"citation_normalized_percentile":{"value":0.9799967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"1091","last_page":"1096"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9965000152587891,"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/trajectory","display_name":"Trajectory","score":0.8151676654815674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6611637473106384},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6593548059463501},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6064164638519287},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5564148426055908},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5541632175445557},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5486512780189514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48324522376060486},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4602273106575012},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4600484371185303},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.45900484919548035},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.45296692848205566},{"id":"https://openalex.org/keywords/moving-horizon-estimation","display_name":"Moving horizon estimation","score":0.4407367706298828},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42876213788986206},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41140851378440857},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40491411089897156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2955068051815033},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2376229166984558},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22788572311401367}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8151676654815674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6611637473106384},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6593548059463501},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6064164638519287},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5564148426055908},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5541632175445557},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5486512780189514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48324522376060486},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4602273106575012},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4600484371185303},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.45900484919548035},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.45296692848205566},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.4407367706298828},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42876213788986206},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41140851378440857},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40491411089897156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2955068051815033},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2376229166984558},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22788572311401367},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2005.1570261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/2774","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/2774","pdf_url":"http://hdl.handle.net/10453/2774","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.851.1814","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.851.1814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://opus.lib.uts.edu.au/bitstream/10453/2774/3/2005002375.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/2774","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/2774","pdf_url":"http://hdl.handle.net/10453/2774","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2111983383.pdf","grobid_xml":"https://content.openalex.org/works/W2111983383.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1483002447","https://openalex.org/W1559536185","https://openalex.org/W1977464512","https://openalex.org/W1978956894","https://openalex.org/W2095010934","https://openalex.org/W2100053656","https://openalex.org/W2109142140","https://openalex.org/W2125539061","https://openalex.org/W2148228392","https://openalex.org/W2152671441","https://openalex.org/W2162518859","https://openalex.org/W2168210109","https://openalex.org/W2171020105","https://openalex.org/W2173782939","https://openalex.org/W4298563212","https://openalex.org/W6685061923"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2124886850","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W791889001"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,23,30,34,48,74,86,89,96,100,111,114,120],"possibility":[4],"and":[5,36,119],"necessity":[6],"of":[7,22,33,73,102],"multi-step":[8,122],"trajectory":[9,24,68,117],"planning":[10,25,69,118],"in":[11,85],"Extended":[12],"Kalman":[13],"Filter":[14],"(EKF)":[15],"based":[16],"SLAM":[17],"is":[18,27,65,83,92],"investigated.":[19],"The":[20,80],"objective":[21],"here":[26],"to":[28,40,109],"minimize":[29],"estimation":[31],"error":[32],"robot":[35],"landmark":[37],"locations":[38],"subject":[39],"a":[41,58,71],"given":[42],"time":[43,101],"horizon.":[44],"We":[45],"show":[46],"that":[47,88],"problem":[49,56],"can":[50],"be":[51],"regarded":[52],"as":[53],"an":[54],"optimization":[55],"for":[57,67],"gradually":[59],"identified":[60],"model.":[61],"A":[62],"numerical":[63],"method":[64,82],"proposed":[66,81,121],"using":[70,94],"variant":[72],"nonlinear":[75],"Model":[76],"Predictive":[77],"Control":[78],"(MPC).":[79],"optimal":[84],"sense":[87],"control":[90],"action":[91],"computed":[93],"all":[95],"information":[97],"available":[98],"at":[99],"decision":[103],"making.":[104],"Simulation":[105],"results":[106,112],"are":[107],"included":[108],"compare":[110],"from":[113],"one-step":[115],"look-ahead":[116,123],"technique.":[124]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}