{"id":"https://openalex.org/W2964395892","doi":"https://doi.org/10.1109/romoco.2019.8787374","title":"Collision-free navigation of N-trailer vehicles with motion constraints","display_name":"Collision-free navigation of N-trailer vehicles with motion constraints","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2964395892","doi":"https://doi.org/10.1109/romoco.2019.8787374","mag":"2964395892"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2019.8787374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Collision-free_navigation_of_N-trailer_vehicles_with_motion_constraints/25179929","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001957041","display_name":"Leonardo Guevara","orcid":"https://orcid.org/0000-0002-1581-8943"},"institutions":[{"id":"https://openalex.org/I75778554","display_name":"Federico Santa Mar\u00eda Technical University","ror":"https://ror.org/05510vn56","country_code":"CL","type":"education","lineage":["https://openalex.org/I75778554"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Leonardo Guevara","raw_affiliation_strings":["Department of Electronic Engineering, Universidad Técnica Federico Santa María, Valparaíso, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidad Técnica Federico Santa María, Valparaíso, Chile","institution_ids":["https://openalex.org/I75778554"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025698540","display_name":"Miguel Torres\u2010Torriti","orcid":"https://orcid.org/0000-0002-7904-7981"},"institutions":[{"id":"https://openalex.org/I162148367","display_name":"Pontificia Universidad Cat\u00f3lica de Chile","ror":"https://ror.org/04teye511","country_code":"CL","type":"education","lineage":["https://openalex.org/I162148367"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Miguel Torres-Torriti","raw_affiliation_strings":["Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Santiago, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Santiago, Chile","institution_ids":["https://openalex.org/I162148367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061931953","display_name":"Fernando Auat Cheein","orcid":"https://orcid.org/0000-0002-6347-7696"},"institutions":[{"id":"https://openalex.org/I75778554","display_name":"Federico Santa Mar\u00eda Technical University","ror":"https://ror.org/05510vn56","country_code":"CL","type":"education","lineage":["https://openalex.org/I75778554"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Fernando Auat Cheein","raw_affiliation_strings":["Department of Electronic Engineering, Universidad Técnica Federico Santa María, Valparaíso, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidad Técnica Federico Santa María, Valparaíso, Chile","institution_ids":["https://openalex.org/I75778554"]}]}],"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":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/collision-avoidance","display_name":"Collision avoidance","score":0.7772327661514282},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.7097760438919067},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6904865503311157},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6573420763015747},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5584429502487183},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5532200932502747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435883402824402},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.533950924873352},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49084168672561646},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4489462077617645},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44195640087127686},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.4419041872024536},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3657112717628479},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36107099056243896},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.36099380254745483},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36052533984184265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14558064937591553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1387959122657776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08086022734642029}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7772327661514282},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.7097760438919067},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6904865503311157},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6573420763015747},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5584429502487183},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5532200932502747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435883402824402},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.533950924873352},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49084168672561646},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4489462077617645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44195640087127686},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.4419041872024536},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3657112717628479},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36107099056243896},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.36099380254745483},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36052533984184265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14558064937591553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1387959122657776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08086022734642029},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/romoco.2019.8787374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:53537","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:figshare.com:article/25179929","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Collision-free_navigation_of_N-trailer_vehicles_with_motion_constraints/25179929","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/25179929","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Collision-free_navigation_of_N-trailer_vehicles_with_motion_constraints/25179929","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1564522574","https://openalex.org/W1630684588","https://openalex.org/W1974883505","https://openalex.org/W1997304447","https://openalex.org/W2031751816","https://openalex.org/W2082511574","https://openalex.org/W2096840699","https://openalex.org/W2101707470","https://openalex.org/W2143944569","https://openalex.org/W2290415289","https://openalex.org/W2606665807","https://openalex.org/W2613988712","https://openalex.org/W2765348817","https://openalex.org/W2795660380","https://openalex.org/W2883623481","https://openalex.org/W3139756528","https://openalex.org/W6636713508","https://openalex.org/W6753330577"],"related_works":["https://openalex.org/W2226500711","https://openalex.org/W2362185005","https://openalex.org/W2370058059","https://openalex.org/W2066111953","https://openalex.org/W2055284621","https://openalex.org/W2276661284","https://openalex.org/W1500319104","https://openalex.org/W2475347516","https://openalex.org/W1577622912","https://openalex.org/W3118945818"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"a":[3,17,45,51,137],"collision-free":[4],"navigation":[5,139],"strategy":[6],"for":[7],"N-trailer":[8,47],"vehicles":[9,77],"is":[10,14,57,89],"proposed.":[11],"This":[12],"approach":[13],"based":[15],"on":[16],"scalable":[18],"cascaded":[19],"control":[20,123],"scheme":[21],"to":[22,61,72,92,127],"perform":[23,79],"several":[24],"tasks":[25],"simultaneously:":[26],"trajectory":[27,65],"tracking":[28],"control,":[29],"off-track":[30,96],"error":[31],"reduction,":[32],"external":[33,87,154],"obstacles":[34],"avoidance,":[35],"and":[36,54,112,150],"inter-vehicle":[37],"collision":[38,129],"avoidance.":[39],"To":[40],"validate":[41],"the":[42,73,102,107,113,122,147],"proposed":[43],"strategy,":[44],"Generalized":[46],"(GNT)":[48],"structure":[49],"with":[50],"car-like":[52,108],"tractor":[53,109],"10":[55],"trailers":[56,95,116],"tested":[58],"in":[59,66,80,98,125],"simulation":[60,133],"track":[62],"an":[63],"U-shape":[64],"presence":[67],"of":[68],"unknown":[69],"obstacles,":[70],"similar":[71],"trajectories":[74],"that":[75],"agricultural":[76],"must":[78],"real":[81],"applications.":[82],"The":[83,132],"well-known":[84],"information":[85],"about":[86],"infrastructure":[88],"also":[90,118],"considered":[91,119],"reduce":[93],"unsafe":[94],"errors":[97],"turning":[99],"scenarios.":[100],"Moreover,":[101],"motion":[103],"constraints":[104],"imposed":[105],"by":[106,120],"physical":[110],"limitations":[111],"interconnections":[114],"between":[115,130,146],"are":[117],"restricting":[121],"input":[124],"order":[126],"avoid":[128],"trailers.":[131],"results":[134],"obtained":[135],"showed":[136],"safe":[138],"which":[140],"performed":[141],"feasible":[142],"maneuvers":[143],"without":[144],"collisions":[145],"vehicles'":[148],"chain":[149],"any":[151],"trailer":[152],"or":[153],"obstacle.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}