{"id":"https://openalex.org/W2124354034","doi":"https://doi.org/10.1109/tac.2014.2366271","title":"Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View","display_name":"Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View","publication_year":2014,"publication_date":"2014-11-03","ids":{"openalex":"https://openalex.org/W2124354034","doi":"https://doi.org/10.1109/tac.2014.2366271","mag":"2124354034"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2014.2366271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2366271","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11568/762573","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059131700","display_name":"Paolo Salaris","orcid":"https://orcid.org/0000-0003-1313-5898"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Salaris","raw_affiliation_strings":["Research Center \u201cEnrico Piaggio\u201d and Dipartimento di Ingegneria dell'Informazione, University of Pisa, Pisa, Italy","Dipt. di Ing. dell 'Inf., Univ. of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Research Center \u201cEnrico Piaggio\u201d and Dipartimento di Ingegneria dell'Informazione, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Dipt. di Ing. dell 'Inf., Univ. of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070054848","display_name":"Andrea Cristofaro","orcid":"https://orcid.org/0000-0002-7757-5844"},"institutions":[{"id":"https://openalex.org/I112859197","display_name":"Universit\u00e0 di Camerino","ror":"https://ror.org/0005w8d69","country_code":"IT","type":"education","lineage":["https://openalex.org/I112859197"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Cristofaro","raw_affiliation_strings":["School of Science and Technology, University of Camerino, Camerino, Italy","[Sch. of Sci. & Technol., Univ. of Camerino, Camerino, Italy]"],"affiliations":[{"raw_affiliation_string":"School of Science and Technology, University of Camerino, Camerino, Italy","institution_ids":["https://openalex.org/I112859197"]},{"raw_affiliation_string":"[Sch. of Sci. & Technol., Univ. of Camerino, Camerino, Italy]","institution_ids":["https://openalex.org/I112859197"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003804011","display_name":"Lucia Pallottino","orcid":"https://orcid.org/0000-0002-9480-8857"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucia Pallottino","raw_affiliation_strings":["Research Center \u201cEnrico Piaggio\u201d and Dipartimento di Ingegneria dell'Informazione, University of Pisa, Pisa, Italy","Dipt. di Ing. dell 'Inf., Univ. of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Research Center \u201cEnrico Piaggio\u201d and Dipartimento di Ingegneria dell'Informazione, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Dipt. di Ing. dell 'Inf., Univ. of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Research Center \u201cEnrico Piaggio\u201d and Dipartimento di Ingegneria dell'Informazione, Istituto Italiano di Tecnologia, Genova, Italy","Dipt. di Ing. dell 'Inf., Univ. of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Research Center \u201cEnrico Piaggio\u201d and Dipartimento di Ingegneria dell'Informazione, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Dipt. di Ing. dell 'Inf., Univ. of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059131700"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":1.2357,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.842117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"60","issue":"5","first_page":"1204","last_page":"1218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6387324929237366},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6202191114425659},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.5188987851142883},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46071678400039673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.458196222782135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4497411847114563},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.42871472239494324},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.41581082344055176},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.4106886684894562},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3658002018928528},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.26678112149238586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.23064261674880981},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1729583740234375}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6387324929237366},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6202191114425659},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.5188987851142883},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46071678400039673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.458196222782135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4497411847114563},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.42871472239494324},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.41581082344055176},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.4106886684894562},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3658002018928528},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.26678112149238586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.23064261674880981},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1729583740234375},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tac.2014.2366271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2366271","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/762573","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/762573","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1329726","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1329726","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pubblicazioni.unicam.it:11581/395310","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/6945252","pdf_url":null,"source":{"id":"https://openalex.org/S4306400819","display_name":"Unicam Scientific Publications (University of Camerino)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I112859197","host_organization_name":"Universit\u00e0 di Camerino","host_organization_lineage":["https://openalex.org/I112859197"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/762573","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/762573","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2360288764","display_name":"Cooperating Objects NETwork of excellence","funder_award_id":"224053","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4447653093","display_name":null,"funder_award_id":"Network","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5073846079","display_name":null,"funder_award_id":"257462","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1971998222","https://openalex.org/W1981518010","https://openalex.org/W1992989752","https://openalex.org/W2010402726","https://openalex.org/W2014726863","https://openalex.org/W2033819227","https://openalex.org/W2055652920","https://openalex.org/W2066366702","https://openalex.org/W2078536073","https://openalex.org/W2079741176","https://openalex.org/W2095211318","https://openalex.org/W2097721004","https://openalex.org/W2113755254","https://openalex.org/W2131339983","https://openalex.org/W2132242891","https://openalex.org/W2132292329","https://openalex.org/W2133538328","https://openalex.org/W2133858305","https://openalex.org/W2149963833","https://openalex.org/W2151768004","https://openalex.org/W2161965271","https://openalex.org/W2164734646","https://openalex.org/W2170252722","https://openalex.org/W2313274380","https://openalex.org/W2798500587","https://openalex.org/W6684351071","https://openalex.org/W6685028711","https://openalex.org/W6698543789"],"related_works":["https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W4386900933","https://openalex.org/W4385301946","https://openalex.org/W4297797135","https://openalex.org/W3125672081","https://openalex.org/W1673581201","https://openalex.org/W2991991550","https://openalex.org/W64182352","https://openalex.org/W4289799755"],"abstract_inverted_index":{"This":[0],"paper":[1,66],"presents":[2],"a":[3,17,30,101,116,164],"contribution":[4],"to":[5,91],"the":[6,46,50,55,69,74,80,92,95,107,121,138,167,174],"problem":[7],"of":[8,109,120,166],"obtaining":[9],"an":[10,21,42,149],"optimal":[11,43,139,175],"synthesis":[12,44,122],"for":[13,16,45,136],"shortest":[14],"paths":[15],"unicycle":[18],"guided":[19],"by":[20,125],"on-board":[22],"limited":[23,53,77],"Field-Of-View":[24],"(FOV)":[25],"sensor,":[26],"which":[27,49,73,137],"must":[28],"keep":[29],"given":[31],"landmark":[32],"in":[33,48,54,72,79,170,182],"sight.":[34],"Previous":[35],"works":[36],"on":[37],"this":[38,65],"subject":[39],"have":[40],"provided":[41],"case":[47,71],"FOV":[51,75],"is":[52,76,98,112,123,185],"horizontal":[56],"directions":[57],"(H-FOV,":[58],"i.e.,":[59,84],"left":[60],"and":[61,86],"right":[62],"boundaries).":[63,88],"In":[64,144],"we":[67,147,162],"study":[68],"complementary":[70],"only":[78,106],"vertical":[81,96],"direction":[82],"(V-FOV,":[83],"upper":[85],"lower":[87],"With":[89],"respect":[90],"H-FOV":[93],"case,":[94],"limitation":[97],"all":[99],"but":[100,114],"simple":[102],"extension.":[103],"Indeed,":[104],"not":[105,142],"geometry":[108],"extremal":[110],"arcs":[111],"different,":[113],"also":[115],"more":[117],"complex":[118],"structure":[119],"revealed":[124],"analysis.":[126],"We":[127],"will":[128],"indeed":[129],"show":[130],"that":[131,173,183],"there":[132],"exist":[133],"initial":[134],"configurations":[135],"path":[140,151,178],"does":[141],"exist.":[143],"such":[145,172],"cases,":[146],"provide":[148,163],"\u03b5-optimal":[150,177],"whose":[152],"length":[153],"approximates":[154],"arbitrarily":[155],"well":[156],"any":[157],"other":[158],"shorter":[159],"path.":[160],"Finally,":[161],"partition":[165],"motion":[168],"plane":[169],"regions":[171],"or":[176],"from":[179],"each":[180],"point":[181],"region":[184],"univocally":[186],"determined.":[187]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
