{"id":"https://openalex.org/W4220854972","doi":"https://doi.org/10.1109/sii52469.2022.9708754","title":"Prioritized Planning for Spatiotemporal Trajectory Coordination of Articulated Vehicles and Co-Simulation with ROS, Docker and Gazebo","display_name":"Prioritized Planning for Spatiotemporal Trajectory Coordination of Articulated Vehicles and Co-Simulation with ROS, Docker and Gazebo","publication_year":2022,"publication_date":"2022-01-09","ids":{"openalex":"https://openalex.org/W4220854972","doi":"https://doi.org/10.1109/sii52469.2022.9708754"},"language":"en","primary_location":{"id":"doi:10.1109/sii52469.2022.9708754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii52469.2022.9708754","pdf_url":null,"source":{"id":"https://openalex.org/S4363605592","display_name":"2022 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/SICE International Symposium on System Integration (SII)","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/A5016565781","display_name":"Felix Keppler","orcid":"https://orcid.org/0000-0002-2161-2773"},"institutions":[{"id":"https://openalex.org/I4210111151","display_name":"Fraunhofer Institute for Transportation and Infrastructure Systems","ror":"https://ror.org/01nqmht92","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111151","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Keppler","raw_affiliation_strings":["Fraunhofer Institute for Transportation and Infrastructure Systems IVI,Dresden,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Transportation and Infrastructure Systems IVI,Dresden,Germany","institution_ids":["https://openalex.org/I4210111151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108094252","display_name":"Markus Kr\u00e4mer","orcid":"https://orcid.org/0009-0009-6298-3296"},"institutions":[{"id":"https://openalex.org/I4210111151","display_name":"Fraunhofer Institute for Transportation and Infrastructure Systems","ror":"https://ror.org/01nqmht92","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111151","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Kramer","raw_affiliation_strings":["Fraunhofer Institute for Transportation and Infrastructure Systems IVI,Dresden,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Transportation and Infrastructure Systems IVI,Dresden,Germany","institution_ids":["https://openalex.org/I4210111151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031181726","display_name":"Oliver Koch","orcid":"https://orcid.org/0000-0001-9228-217X"},"institutions":[{"id":"https://openalex.org/I4210096687","display_name":"Sensor-Technik Wiedemann (Germany)","ror":"https://ror.org/00bda6055","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210096687"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Koch","raw_affiliation_strings":["Machine Automation Lab Dresden Sensor-Technik Wiedemann GmbH,Kaufbeuren,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Automation Lab Dresden Sensor-Technik Wiedemann GmbH,Kaufbeuren,Germany","institution_ids":["https://openalex.org/I4210096687"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075233840","display_name":"Sebastian Wagner","orcid":"https://orcid.org/0000-0001-6468-4833"},"institutions":[{"id":"https://openalex.org/I4210111151","display_name":"Fraunhofer Institute for Transportation and Infrastructure Systems","ror":"https://ror.org/01nqmht92","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210111151","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Wagner","raw_affiliation_strings":["Fraunhofer Institute for Transportation and Infrastructure Systems IVI,Dresden,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Transportation and Infrastructure Systems IVI,Dresden,Germany","institution_ids":["https://openalex.org/I4210111151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042050845","display_name":"Klaus Janschek","orcid":"https://orcid.org/0000-0002-7244-8977"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Janschek","raw_affiliation_strings":["Institute of Automation Technische Universit&#x00E4;t Dresden,Dresden,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation Technische Universit&#x00E4;t Dresden,Dresden,Germany","institution_ids":["https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.118,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.36806985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"279","last_page":"284"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7435793280601501},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7217648029327393},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7093294858932495},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6772165894508362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.675518810749054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6496291756629944},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6441973447799683},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6201468110084534},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.5693017840385437},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5199462175369263},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.46262502670288086},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4512251913547516},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4302142262458801},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.42879462242126465},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38140159845352173},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.22200658917427063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19953259825706482},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.198490172624588},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.13827097415924072}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7435793280601501},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7217648029327393},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7093294858932495},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6772165894508362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.675518810749054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6496291756629944},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6441973447799683},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6201468110084534},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.5693017840385437},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5199462175369263},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46262502670288086},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4512251913547516},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4302142262458801},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.42879462242126465},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38140159845352173},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.22200658917427063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19953259825706482},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.198490172624588},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.13827097415924072},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii52469.2022.9708754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii52469.2022.9708754","pdf_url":null,"source":{"id":"https://openalex.org/S4363605592","display_name":"2022 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/425354","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/425354","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2004815408","https://openalex.org/W2006905283","https://openalex.org/W2072839015","https://openalex.org/W2084322256","https://openalex.org/W2099919002","https://openalex.org/W2155313135","https://openalex.org/W2163178194","https://openalex.org/W2889688706","https://openalex.org/W2963128936","https://openalex.org/W2968461548","https://openalex.org/W2972787457","https://openalex.org/W3010789311","https://openalex.org/W3081388621","https://openalex.org/W3117095402","https://openalex.org/W3138508258"],"related_works":["https://openalex.org/W2083550201","https://openalex.org/W1973792347","https://openalex.org/W1987512627","https://openalex.org/W1796340588","https://openalex.org/W2100092009","https://openalex.org/W2546893741","https://openalex.org/W4231681387","https://openalex.org/W1678705929","https://openalex.org/W1935426308","https://openalex.org/W2137894383"],"abstract_inverted_index":{"Trajectory":[0],"coordination":[1],"is":[2,16],"a":[3,11,17,67,76,90,95],"key":[4],"challenge":[5],"when":[6],"automating":[7],"multiple":[8,73],"robots":[9,86],"in":[10,48,54,98],"shared":[12],"workspace.":[13],"Prioritized":[14],"planning":[15],"widely":[18],"used":[19],"technique":[20],"to":[21,71],"generate":[22],"collision-free":[23],"velocity":[24],"profiles":[25],"along":[26],"fixed":[27],"paths":[28],"and":[29,59,63,81,105],"has":[30],"recently":[31],"been":[32],"extended":[33],"for":[34,45],"complex":[35],"vehicle":[36,78],"structures.":[37],"We":[38],"analyze":[39],"the":[40],"particularities":[41],"of":[42,61,75],"approximation":[43],"methods":[44],"articulated":[46],"vehicles":[47],"comparison":[49],"with":[50,84,94],"spatiotemporal":[51],"occupancy":[52],"tracking":[53],"logistics":[55],"hubs.":[56],"For":[57],"debugging":[58],"testing":[60],"automation":[62,79],"coordination,":[64],"we":[65,100],"present":[66],"modular,":[68],"dockerized":[69],"architecture":[70],"simulate":[72],"instances":[74],"ROS-based":[77],"stack":[80],"its":[82],"interaction":[83],"other":[85],"(agents).":[87],"By":[88],"combining":[89],"kinematic":[91],"OpenModelica":[92],"model":[93],"3D":[96],"simulation":[97],"Gazebo,":[99],"exploit":[101],"their":[102],"complementary":[103],"capabilities":[104],"enable":[106],"further":[107],"research":[108],"on":[109],"multi-robot":[110],"trajectory":[111],"coordination.":[112]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
