{"id":"https://openalex.org/W2155886259","doi":"https://doi.org/10.1109/robot.2008.4543548","title":"Real-time clothoid approximation by Rational Bezier curves","display_name":"Real-time clothoid approximation by Rational Bezier curves","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2155886259","doi":"https://doi.org/10.1109/robot.2008.4543548","mag":"2155886259"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5087079246","display_name":"Nicol\u00e1s Mont\u00e9s","orcid":"https://orcid.org/0000-0002-0661-3479"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Nicolas Montes","raw_affiliation_strings":["Systems Engineering and Control Department, Technical University of Valencia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Systems Engineering and Control Department, Technical University of Valencia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027073164","display_name":"\u00c1lvaro Herr\u00e1ez","orcid":"https://orcid.org/0000-0002-9637-0406"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alvaro Herraez","raw_affiliation_strings":["Design and Manufacturing of Valencia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Design and Manufacturing of Valencia, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011926647","display_name":"Leopoldo Armesto","orcid":"https://orcid.org/0000-0003-0979-4428"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Leopoldo Armesto","raw_affiliation_strings":["Systems Engineering and Control Department, Technical University of Valencia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Systems Engineering and Control Department, Technical University of Valencia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048869825","display_name":"Josep Tornero","orcid":"https://orcid.org/0000-0003-1571-0251"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Josep Tornero","raw_affiliation_strings":["Systems Engineering and Control Department, Technical University of Valencia, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Systems Engineering and Control Department, Technical University of Valencia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087079246"],"corresponding_institution_ids":["https://openalex.org/I60053951"],"apc_list":null,"apc_paid":null,"fwci":1.4196,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.84634518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2246","last_page":"2251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9961000084877014,"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/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.8962088227272034},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.549578070640564},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5370584726333618},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5321969389915466},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5072473883628845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4789712727069855},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45633289217948914},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43576785922050476},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43400418758392334},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41856950521469116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41294994950294495},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4103124737739563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3965820074081421},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3229166269302368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2792016267776489},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.24176761507987976},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22203636169433594},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.15523672103881836},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.11323440074920654}],"concepts":[{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.8962088227272034},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.549578070640564},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5370584726333618},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5321969389915466},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5072473883628845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4789712727069855},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45633289217948914},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43576785922050476},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43400418758392334},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41856950521469116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41294994950294495},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4103124737739563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3965820074081421},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3229166269302368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2792016267776489},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.24176761507987976},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22203636169433594},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.15523672103881836},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.11323440074920654},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"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/robot.2008.4543548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1548879090","https://openalex.org/W1670000279","https://openalex.org/W1999945010","https://openalex.org/W2009620679","https://openalex.org/W2075491114","https://openalex.org/W2080888153","https://openalex.org/W2093205068","https://openalex.org/W2096131584","https://openalex.org/W2105437924","https://openalex.org/W2116842611","https://openalex.org/W2148970883","https://openalex.org/W2163385431","https://openalex.org/W2170508483","https://openalex.org/W2179317217","https://openalex.org/W2313274380","https://openalex.org/W4205649593","https://openalex.org/W4230748836"],"related_works":["https://openalex.org/W2954726184","https://openalex.org/W3119646977","https://openalex.org/W2040311631","https://openalex.org/W2035110536","https://openalex.org/W1539483014","https://openalex.org/W2593409793","https://openalex.org/W2162695884","https://openalex.org/W2111613995","https://openalex.org/W2056782174","https://openalex.org/W2129409555"],"abstract_inverted_index":{"This":[0,54],"paper":[1],"presents":[2],"a":[3,70,87,104,119],"novel":[4],"technique":[5,115,139],"for":[6,11,98,123],"implementing":[7],"Clothoidal":[8,39,76,143],"real-time":[9,142],"paths":[10],"mobile":[12,121],"robots.":[13],"As":[14],"first":[15,138],"step,":[16],"rational":[17],"Bezier":[18],"curves":[19],"are":[20,51,93],"obtained":[21],"as":[22,65,91],"approximation":[23],"of":[24],"the":[25,33,62,66,99,113,130,133,137],"Fresnel":[26],"integrals.":[27],"By":[28],"rescaling,":[29],"rotating":[30],"and":[31,48,126],"translating":[32],"previously":[34],"computed":[35],"RBC,":[36],"an":[37,59],"on-line":[38,55],"path":[40,77,102,144],"is":[41,116,136],"obtained.":[42],"In":[43,109],"this":[44],"process,":[45],"coefficients,":[46],"weights":[47],"control":[49],"points":[50],"kept":[52],"invariant.":[53],"approach":[56,135],"guarantees":[57],"that":[58],"RBC":[60],"has":[61],"same":[63],"behavior":[64],"original":[67],"Clothoid":[68],"using":[69],"low":[71],"curve":[72],"order.":[73],"The":[74],"resulting":[75],"allows":[78,141],"any":[79],"two":[80],"arbitrary":[81],"poses":[82],"to":[83,96,111],"be":[84],"joined":[85],"in":[86],"plane.":[88],"RBCs":[89],"working":[90],"Clothoids":[92],"also":[94],"used":[95],"search":[97],"shortest":[100],"bounded-curvature":[101],"with":[103],"significant":[105],"computational":[106],"cost":[107],"reduction.":[108],"addition":[110],"this,":[112],"proposed":[114],"tested":[117],"on":[118],"real":[120],"robot":[122],"trajectory":[124],"generation":[125],"kinematic":[127],"control.":[128],"To":[129],"authors'":[131],"knowledge,":[132],"present":[134],"which":[140],"computation":[145],"<b":[146],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[147],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">.</b>":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-09T06:08:40.794217","created_date":"2025-10-10T00:00:00"}
