{"id":"https://openalex.org/W1520758577","doi":"https://doi.org/10.1109/romoco.2015.7219714","title":"Motion planning through waypoints for a skid-steering mobile platform","display_name":"Motion planning through waypoints for a skid-steering mobile platform","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1520758577","doi":"https://doi.org/10.1109/romoco.2015.7219714","mag":"1520758577"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2015.7219714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2015.7219714","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 10th International Workshop on Robot Motion and Control (RoMoCo)","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/A5077305204","display_name":"Mariusz Janiak","orcid":"https://orcid.org/0000-0002-5258-5296"},"institutions":[{"id":"https://openalex.org/I11923345","display_name":"Wroc\u0142aw University of Science and Technology","ror":"https://ror.org/008fyn775","country_code":"PL","type":"education","lineage":["https://openalex.org/I11923345"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Mariusz Janiak","raw_affiliation_strings":["Chair of Cybernetics and Robotic, Wroclaw University of Technology, Wroclaw, Poland","Faculty of Electronics, Wroc\u0142aw University of Technology, ul. Z. Janiszewskiego 11/17, 50-320, Poland"],"affiliations":[{"raw_affiliation_string":"Chair of Cybernetics and Robotic, Wroclaw University of Technology, Wroclaw, Poland","institution_ids":["https://openalex.org/I11923345"]},{"raw_affiliation_string":"Faculty of Electronics, Wroc\u0142aw University of Technology, ul. Z. Janiszewskiego 11/17, 50-320, Poland","institution_ids":["https://openalex.org/I11923345"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036247461","display_name":"Krzysztof Tcho\u0144","orcid":"https://orcid.org/0000-0002-5691-9644"},"institutions":[{"id":"https://openalex.org/I11923345","display_name":"Wroc\u0142aw University of Science and Technology","ror":"https://ror.org/008fyn775","country_code":"PL","type":"education","lineage":["https://openalex.org/I11923345"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Tchon","raw_affiliation_strings":["Chair of Cybernetics and Robotic, Wroclaw University of Technology, Wroclaw, Poland","Faculty of Electronics, Wroc\u0142aw University of Technology, ul. Z. Janiszewskiego 11/17, 50-320, Poland"],"affiliations":[{"raw_affiliation_string":"Chair of Cybernetics and Robotic, Wroclaw University of Technology, Wroclaw, Poland","institution_ids":["https://openalex.org/I11923345"]},{"raw_affiliation_string":"Faculty of Electronics, Wroc\u0142aw University of Technology, ul. Z. Janiszewskiego 11/17, 50-320, Poland","institution_ids":["https://openalex.org/I11923345"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077305204"],"corresponding_institution_ids":["https://openalex.org/I11923345"],"apc_list":null,"apc_paid":null,"fwci":0.9205,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81131285,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"14","issue":null,"first_page":"58","last_page":"63"},"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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/skid","display_name":"Skid (aerodynamics)","score":0.7943893074989319},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7771391868591309},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6298092603683472},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.567045271396637},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34641432762145996},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3201081454753876},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22672027349472046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18539035320281982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13793838024139404},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09268724918365479}],"concepts":[{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.7943893074989319},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7771391868591309},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6298092603683472},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.567045271396637},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34641432762145996},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3201081454753876},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22672027349472046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18539035320281982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13793838024139404},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09268724918365479}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2015.7219714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2015.7219714","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 10th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1529606505","https://openalex.org/W1582919213","https://openalex.org/W1970726281","https://openalex.org/W1974014634","https://openalex.org/W1977164425","https://openalex.org/W1978507862","https://openalex.org/W1982502360","https://openalex.org/W2003078294","https://openalex.org/W2033469738","https://openalex.org/W2056027091","https://openalex.org/W2072994709","https://openalex.org/W2080788014","https://openalex.org/W2128990851","https://openalex.org/W2130187425","https://openalex.org/W2148853660","https://openalex.org/W2171941573","https://openalex.org/W2180732528","https://openalex.org/W2264749050","https://openalex.org/W2289517359","https://openalex.org/W2496208109","https://openalex.org/W2611243847","https://openalex.org/W6696211020"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399","https://openalex.org/W2150982344"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,11,40,45,55,67,74,79,86,89,92,100,115,140,146],"problem":[4,60,99],"of":[5,47,50,88,114,131,137,139,145,151],"motion":[6,58,147],"planning":[7,59,148],"through":[8,77],"waypoints":[9,41,80,90],"for":[10],"skid-steering":[12],"mobile":[13],"platform":[14,68,75],"Rex.":[15],"Proposed":[16],"method":[17,133],"is":[18,37,134],"easily":[19],"applicable":[20],"to":[21,96,123],"other":[22],"robotics":[23],"systems":[24],"whose":[25],"dynamic":[26],"are":[27,42],"represented":[28],"by":[29,157],"a":[30,48,71,82,112,135],"control":[31,64],"affine":[32],"system":[33],"with":[34],"outputs.":[35],"It":[36],"assumed":[38],"that":[39,73],"provided":[43],"in":[44,54,62,69,81,91],"form":[46],"sequence":[49],"points":[51],"and":[52],"velocities":[53],"taskspace.":[56],"The":[57],"consists":[61],"finding":[63],"signals":[65],"driving":[66],"such":[70],"way":[72],"passes":[76],"all":[78],"given":[83],"time,":[84],"preserving":[85],"order":[87,95],"sequence.":[93],"In":[94],"solve":[97],"this":[98,132,152],"Lifted":[101],"Newton":[102],"Method":[103],"has":[104,154],"been":[105,155],"adopted,":[106],"which":[107],"can":[108],"be":[109],"regarded":[110],"as":[111],"generalization":[113],"well-known":[116],"direct":[117],"\u201cmultiple":[118],"shooting\u201d":[119],"technique,":[120],"widely":[121],"applied":[122],"solving":[124],"nonlinear":[125],"optimization":[126],"problems.":[127],"A":[128],"remarkable":[129],"advantage":[130],"possibility":[136],"parallelization":[138],"most":[141],"computationally":[142],"demanding":[143],"parts":[144],"algorithm.":[149],"Performance":[150],"algorithm":[153],"illustrated":[156],"computer":[158],"simulations.":[159]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
