{"id":"https://openalex.org/W2118378232","doi":"https://doi.org/10.1109/robot.2009.5152782","title":"On-line planning of nonholonomic trajectories in crowded and geometrically unknown environments","display_name":"On-line planning of nonholonomic trajectories in crowded and geometrically unknown environments","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2118378232","doi":"https://doi.org/10.1109/robot.2009.5152782","mag":"2118378232"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5100652696","display_name":"Yanbo Li","orcid":"https://orcid.org/0000-0001-5144-2309"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanbo Li","raw_affiliation_strings":["IMI Lab Department of Computer Science, North Carolina State University, Charlotte, NC, USA","IMI Lab, Department of Computer Science, University of North Carolina, Charlotte, Charlotte, NC#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMI Lab Department of Computer Science, North Carolina State University, Charlotte, NC, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"IMI Lab, Department of Computer Science, University of North Carolina, Charlotte, Charlotte, NC#TAB#","institution_ids":["https://openalex.org/I102149020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070173803","display_name":"Jing Xiao","orcid":"https://orcid.org/0000-0002-5242-7909"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Xiao","raw_affiliation_strings":["IMI Lab Department of Computer Science, North Carolina State University, Charlotte, NC, USA","IMI Lab, Department of Computer Science, University of North Carolina, Charlotte, Charlotte, NC#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMI Lab Department of Computer Science, North Carolina State University, Charlotte, NC, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"IMI Lab, Department of Computer Science, University of North Carolina, Charlotte, Charlotte, NC#TAB#","institution_ids":["https://openalex.org/I102149020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3230","last_page":"3236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9829999804496765,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7946312427520752},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7206213474273682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6370012760162354},{"id":"https://openalex.org/keywords/knot","display_name":"Knot (papermaking)","score":0.5983816385269165},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5302944779396057},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5271494388580322},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.48699766397476196},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4455406069755554},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.44362279772758484},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4425663948059082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4384341239929199},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4292978346347809},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42233991622924805},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3024277091026306},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25959259271621704},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16441240906715393},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.114829421043396},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08788248896598816}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7946312427520752},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7206213474273682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6370012760162354},{"id":"https://openalex.org/C2779863119","wikidata":"https://www.wikidata.org/wiki/Q6423048","display_name":"Knot (papermaking)","level":2,"score":0.5983816385269165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5302944779396057},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5271494388580322},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.48699766397476196},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4455406069755554},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.44362279772758484},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4425663948059082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4384341239929199},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4292978346347809},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42233991622924805},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3024277091026306},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25959259271621704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16441240906715393},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.114829421043396},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08788248896598816},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152782","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.187.9559","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.9559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.uncc.edu/%7Exiao/pdf/ICRA2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1500269607","https://openalex.org/W1593603341","https://openalex.org/W1971998222","https://openalex.org/W2010704362","https://openalex.org/W2013452693","https://openalex.org/W2028240448","https://openalex.org/W2101419433","https://openalex.org/W2103639171","https://openalex.org/W2104633478","https://openalex.org/W2125503755","https://openalex.org/W2128771137","https://openalex.org/W2137113647","https://openalex.org/W2152724075","https://openalex.org/W2167869989","https://openalex.org/W2313274380","https://openalex.org/W3104753760","https://openalex.org/W4245843000","https://openalex.org/W6629920622","https://openalex.org/W6652859653","https://openalex.org/W6654031844","https://openalex.org/W6657403861"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W1568779110","https://openalex.org/W2032198329","https://openalex.org/W804484174","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W4244698559","https://openalex.org/W2323165849","https://openalex.org/W2135584875","https://openalex.org/W2383775285"],"abstract_inverted_index":{"Navigation":[0],"of":[1,13,20,46,84,101],"a":[2,18,44,77,99,105,114,123],"car-like":[3,106],"robot":[4,107],"in":[5,64,76,113],"environments":[6,66],"with":[7,67,119],"unknowns":[8],"requires":[9],"effective":[10],"on-line":[11,82],"planning":[12,83],"nonholonomic":[14,40,85],"trajectories.":[15],"We":[16,71],"propose":[17],"set":[19],"basic":[21],"maneuver":[22,55],"patterns":[23,56],"based":[24],"on":[25],"Bezier":[26],"curves":[27],"that":[28],"allow":[29],"either":[30],"forward":[31],"or":[32],"backward":[33],"motion":[34],"as":[35],"building":[36],"blocks":[37],"to":[38],"create":[39],"trajectories":[41,63],"quickly,":[42],"given":[43,98],"sequence":[45,100],"knot":[47,103],"positions/points":[48],"(e.g.,":[49],"from":[50],"some":[51],"GPS":[52],"navigator).":[53],"These":[54],"are":[57],"particularly":[58],"useful":[59],"for":[60,81],"generating":[61],"feasible":[62],"crowded":[65,117],"many":[68],"narrow":[69],"passages.":[70],"embed":[72],"the":[73,90,128],"above":[74],"techniques":[75],"new":[78],"planner":[79,95],"suitable":[80],"and":[86,111],"collision-free":[87],"trajectories,":[88],"called":[89],"ON":[91,94],"planner.":[92],"Our":[93],"enables":[96],"that,":[97],"rough":[102],"points,":[104],"can":[108],"simultaneously":[109],"plan":[110],"move":[112],"geometrically":[115],"unknown,":[116],"environment":[118],"local":[120],"sensing":[121],"towards":[122],"goal.":[124],"Simulation":[125],"results":[126],"demonstrate":[127],"planner's":[129],"nice":[130],"capabilities.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}