{"id":"https://openalex.org/W2773132569","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215288","title":"Path planning at roundabouts using piecewise linear continuous curvature curves","display_name":"Path planning at roundabouts using piecewise linear continuous curvature curves","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2773132569","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215288","mag":"2773132569"},"language":"en","primary_location":{"id":"doi:10.1109/sbr-lars-r.2017.8215288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","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/A5038491634","display_name":"Junior A. R. Silva","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Junior A. R. Silva","raw_affiliation_strings":["University of S\u00e3o Paulo"],"affiliations":[{"raw_affiliation_string":"University of S\u00e3o Paulo","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009669213","display_name":"Valdir Grassi","orcid":"https://orcid.org/0000-0001-6753-139X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Valdir Grassi","raw_affiliation_strings":["University of S\u00e3o Paulo"],"affiliations":[{"raw_affiliation_string":"University of S\u00e3o Paulo","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038491634"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6372,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.79077733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9926000237464905,"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"}},{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9750999808311462,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/roundabout","display_name":"Roundabout","score":0.8602290153503418},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.8244436979293823},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6731576919555664},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.6146011352539062},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5644103288650513},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.551459789276123},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5219109058380127},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44604671001434326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4405496418476105},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.43139705061912537},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39168018102645874},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36383384466171265},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.24070417881011963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23874443769454956},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.19646760821342468},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.1962054967880249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15465545654296875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11928504705429077},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09890961647033691},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06646910309791565}],"concepts":[{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.8602290153503418},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.8244436979293823},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6731576919555664},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.6146011352539062},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5644103288650513},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.551459789276123},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5219109058380127},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44604671001434326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4405496418476105},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.43139705061912537},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39168018102645874},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36383384466171265},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.24070417881011963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23874443769454956},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.19646760821342468},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.1962054967880249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15465545654296875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11928504705429077},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09890961647033691},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06646910309791565},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr-lars-r.2017.8215288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W82705568","https://openalex.org/W1134424270","https://openalex.org/W1588711604","https://openalex.org/W1993450261","https://openalex.org/W2013003379","https://openalex.org/W2014989492","https://openalex.org/W2031019164","https://openalex.org/W2076383834","https://openalex.org/W2096526041","https://openalex.org/W2108267620","https://openalex.org/W2109061107","https://openalex.org/W2163385431","https://openalex.org/W2186893758","https://openalex.org/W2192586580","https://openalex.org/W2269446529","https://openalex.org/W2306644740","https://openalex.org/W2559208060","https://openalex.org/W2801179766","https://openalex.org/W4300223101"],"related_works":["https://openalex.org/W2093826578","https://openalex.org/W4294237266","https://openalex.org/W2133947431","https://openalex.org/W2490196280","https://openalex.org/W3182827720","https://openalex.org/W1596838019","https://openalex.org/W3208509670","https://openalex.org/W2100864966","https://openalex.org/W2109304297","https://openalex.org/W2083709218"],"abstract_inverted_index":{"The":[0,92,112,140],"number":[1],"of":[2,35,53,99,103,120,156],"roundabouts":[3,150],"has":[4],"been":[5],"increased":[6],"as":[7,90,134],"they":[8],"have":[9],"demonstrated":[10],"improvements":[11],"over":[12],"unsignalized":[13],"and":[14,55,80,88,126,147,151,164],"signalized":[15],"intersections":[16],"regarding":[17],"safety,":[18],"traffic":[19],"flow,":[20],"access":[21],"management,":[22],"etc.":[23],"In":[24],"this":[25],"sense,":[26],"autonomous":[27,74],"vehicles":[28,75],"should":[29],"satisfactorily":[30],"deal":[31],"with":[32,106,128],"the":[33,51,62,100,104,109,117,121,137,154,157],"problem":[34],"path":[36,70,94,114,158],"planning":[37,71],"at":[38,123],"these":[39],"circular":[40,78,138],"intersections.":[41],"Approaches":[42],"proposed":[43,141],"in":[44],"literature":[45],"employ":[46],"optimization":[47],"techniques":[48],"to":[49,56,61,108],"improve":[50],"level":[52],"comfort":[54],"ensure":[57,161],"bounded":[58,162],"curvature":[59,84,105,163,166],"subjected":[60],"vehicle's":[63],"kinematic":[64],"constraints.":[65],"This":[66],"paper":[67],"describes":[68],"a":[69],"approach":[72,142],"for":[73],"using":[76],"clothoids,":[77],"arcs,":[79],"straight":[81],"lines,":[82],"whose":[83],"is":[85],"piecewise":[86],"linear":[87,101],"continuous":[89],"well.":[91],"planned":[93],"provides":[95],"smooth":[96],"driving":[97,169],"because":[98],"variation":[102],"respect":[107],"traveled":[110],"distance.":[111],"roundabout":[113,124],"planner":[115],"interpolates":[116],"desired":[118],"configurations":[119],"vehicle":[122],"entrance":[125],"exit":[127],"G":[129],"<sup":[130],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[131],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[132],"continuity":[133],"traveling":[135],"along":[136],"roadway.":[139],"was":[143],"tested":[144],"on":[145],"real":[146],"simulated":[148],"doublelane":[149],"results":[152],"demonstrate":[153],"effectiveness":[155],"planning,":[159],"which":[160],"low":[165],"derivative,":[167],"providing":[168],"comfort.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}