{"id":"https://openalex.org/W3131580247","doi":"https://doi.org/10.1109/tac.2021.3059838","title":"FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking","display_name":"FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking","publication_year":2021,"publication_date":"2021-02-18","ids":{"openalex":"https://openalex.org/W3131580247","doi":"https://doi.org/10.1109/tac.2021.3059838","mag":"3131580247"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3059838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3059838","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.07039","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100387244","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8506-3665"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mo Chen","raw_affiliation_strings":["School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","[School of Computing Science, Simon Fraser University, Burnaby, BC, Canada, V5A 1S6 (e-mail: mochen@cs.sfu.ca)]"],"raw_orcid":"https://orcid.org/0000-0001-8506-3665","affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]},{"raw_affiliation_string":"[School of Computing Science, Simon Fraser University, Burnaby, BC, Canada, V5A 1S6 (e-mail: mochen@cs.sfu.ca)]","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071321544","display_name":"Sylvia Herbert","orcid":"https://orcid.org/0000-0002-3863-8945"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvia L. Herbert","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA, USA","[Mechanical and Aerospace Engineering, UC San Diego (UCSD), San Diego, CA, United States of America, 92122 (e-mail: sherbert@ucsd.edu)]"],"raw_orcid":"https://orcid.org/0000-0002-3863-8945","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"[Mechanical and Aerospace Engineering, UC San Diego (UCSD), San Diego, CA, United States of America, 92122 (e-mail: sherbert@ucsd.edu)]","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032418646","display_name":"Haimin Hu","orcid":"https://orcid.org/0000-0002-4217-4776"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haimin Hu","raw_affiliation_strings":["Department of Electrical Engineering, Princeton University, Princeton, NJ, USA","[Electrical Engineering, Princeton University, Princeton, NJ, United States of America, 08536 (e-mail: haiminh@princeton.edu)]"],"raw_orcid":"https://orcid.org/0000-0002-4217-4776","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Princeton University, Princeton, NJ, USA","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"[Electrical Engineering, Princeton University, Princeton, NJ, United States of America, 08536 (e-mail: haiminh@princeton.edu)]","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047225984","display_name":"Ye Pu","orcid":"https://orcid.org/0000-0001-5924-0859"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ye Pu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, VIC, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5924-0859","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050710435","display_name":"Jaime F. Fisac","orcid":"https://orcid.org/0000-0002-2676-5090"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaime Fernandez Fisac","raw_affiliation_strings":["Department of Electrical Engineering, Princeton University, Princeton, NJ, USA","[Electrical Engineering, Princeton University, Princeton, NJ, United States of America, 08544 (e-mail: jfisac@princeton.edu)]"],"raw_orcid":"https://orcid.org/0000-0002-2676-5090","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Princeton University, Princeton, NJ, USA","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"[Electrical Engineering, Princeton University, Princeton, NJ, United States of America, 08544 (e-mail: jfisac@princeton.edu)]","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059176959","display_name":"Somil Bansal","orcid":"https://orcid.org/0000-0002-5826-7686"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5826-7686","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014662969","display_name":"SooJean Han","orcid":"https://orcid.org/0000-0003-1195-6465"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"SooJean Han","raw_affiliation_strings":["Control and Dynamical Systems Program, California Institute of Technology, Los Angeles, CA, USA","[Controls and Dynamical Systems, California Institute of Technology, Los Angeles, CA, United States of America, 90019 (e-mail: soojean@caltech.edu)]"],"raw_orcid":"https://orcid.org/0000-0003-1195-6465","affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems Program, California Institute of Technology, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[Controls and Dynamical Systems, California Institute of Technology, Los Angeles, CA, United States of America, 90019 (e-mail: soojean@caltech.edu)]","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","[EECS, UC Berkeley, Berkeley, CA, United States of America, 94720-1770 (e-mail: tomlin@eecs.berkeley.edu)]"],"raw_orcid":"https://orcid.org/0000-0003-3192-3185","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[EECS, UC Berkeley, Berkeley, CA, United States of America, 94720-1770 (e-mail: tomlin@eecs.berkeley.edu)]","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100387244"],"corresponding_institution_ids":["https://openalex.org/I18014758"],"apc_list":null,"apc_paid":null,"fwci":3.8793,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.94796559,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"66","issue":"12","first_page":"5861","last_page":"5876"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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/modular-design","display_name":"Modular design","score":0.8067851662635803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6274579763412476},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5648496747016907},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46285736560821533},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44011202454566956},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38112083077430725},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34731703996658325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23734384775161743},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20860528945922852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11299136281013489},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09129080176353455}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8067851662635803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6274579763412476},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5648496747016907},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46285736560821533},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44011202454566956},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38112083077430725},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34731703996658325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23734384775161743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20860528945922852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11299136281013489},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09129080176353455},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tac.2021.3059838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3059838","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:arXiv.org:2102.07039","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.07039","pdf_url":"https://arxiv.org/pdf/2102.07039","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:jupiter.its.unimelb.edu.au:11343/281561","is_oa":true,"landing_page_url":"http://hdl.handle.net/11343/281561","pdf_url":"http://hdl.handle.net/11343/281561","source":{"id":"https://openalex.org/S4377196259","display_name":"Minerva Access (University of Melbourne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165779595","host_organization_name":"The University of Melbourne","host_organization_lineage":["https://openalex.org/I165779595"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:authors.library.caltech.edu:108188","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/108188/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.07039","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.07039","pdf_url":"https://arxiv.org/pdf/2102.07039","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":78,"referenced_works":["https://openalex.org/W329007756","https://openalex.org/W926607442","https://openalex.org/W1864112212","https://openalex.org/W1969160376","https://openalex.org/W1975236902","https://openalex.org/W1977164425","https://openalex.org/W1980145158","https://openalex.org/W1980569135","https://openalex.org/W1995356523","https://openalex.org/W2001331101","https://openalex.org/W2009447937","https://openalex.org/W2013439434","https://openalex.org/W2019965290","https://openalex.org/W2047549180","https://openalex.org/W2053572490","https://openalex.org/W2075718555","https://openalex.org/W2090528409","https://openalex.org/W2099893201","https://openalex.org/W2112271657","https://openalex.org/W2115955659","https://openalex.org/W2116364955","https://openalex.org/W2123357397","https://openalex.org/W2127617835","https://openalex.org/W2128990851","https://openalex.org/W2132714442","https://openalex.org/W2133404041","https://openalex.org/W2134673975","https://openalex.org/W2141664020","https://openalex.org/W2156963939","https://openalex.org/W2158048639","https://openalex.org/W2217407546","https://openalex.org/W2293883387","https://openalex.org/W2298907094","https://openalex.org/W2299601289","https://openalex.org/W2332600699","https://openalex.org/W2418368699","https://openalex.org/W2475997554","https://openalex.org/W2482392012","https://openalex.org/W2485589742","https://openalex.org/W2513059617","https://openalex.org/W2604410735","https://openalex.org/W2624196447","https://openalex.org/W2737223130","https://openalex.org/W2766089010","https://openalex.org/W2767385209","https://openalex.org/W2791796486","https://openalex.org/W2807455070","https://openalex.org/W2886821123","https://openalex.org/W2951930445","https://openalex.org/W2953931148","https://openalex.org/W2962683513","https://openalex.org/W2962822210","https://openalex.org/W2963118121","https://openalex.org/W2963488412","https://openalex.org/W2963606896","https://openalex.org/W2963731007","https://openalex.org/W2964239200","https://openalex.org/W2967193622","https://openalex.org/W2968185997","https://openalex.org/W3011042361","https://openalex.org/W3015470607","https://openalex.org/W3023466262","https://openalex.org/W3105818906","https://openalex.org/W4230028510","https://openalex.org/W4292249799","https://openalex.org/W6611410311","https://openalex.org/W6642668881","https://openalex.org/W6655690456","https://openalex.org/W6669498461","https://openalex.org/W6675143278","https://openalex.org/W6679392325","https://openalex.org/W6681136635","https://openalex.org/W6697550776","https://openalex.org/W6702981954","https://openalex.org/W6738785343","https://openalex.org/W6745764106","https://openalex.org/W6749649813","https://openalex.org/W6754173698"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2084086966","https://openalex.org/W2088988140","https://openalex.org/W3171015545","https://openalex.org/W2103019253","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W2097995569"],"abstract_inverted_index":{"Real-time,":[0],"guaranteed":[1,51],"safe":[2,24],"trajectory":[3,25,63,149],"planning":[4,26],"is":[5,58,78],"vital":[6],"for":[7,19,33,143],"navigation":[8,14],"in":[9],"unknown":[10],"environments.":[11],"However,":[12],"real-time":[13,34,48,56,148],"algorithms":[15],"typically":[16],"sacrifice":[17],"robustness":[18],"computation":[20,57],"speed.":[21],"Alternatively,":[22],"provably":[23],"tends":[27],"to":[28,65,103,111,122],"be":[29],"too":[30],"computationally":[31],"intensive":[32],"replanning.":[35],"We":[36,95,114,137],"propose":[37],"FaSTrack,":[38],"Fast":[39],"and":[40,50,109,145],"Safe":[41],"Tracking,":[42],"a":[43,67,85],"framework":[44],"that":[45],"achieves":[46],"both":[47],"replanning":[49],"safety.":[52],"In":[53],"this":[54],"framework,":[55],"achieved":[59],"by":[60,80,84],"allowing":[61],"any":[62],"planner":[64],"use":[66],"simplified":[68],"<italic":[69,90],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[70,91],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">planning":[71],"model</i>":[72,93],"of":[73,134],"the":[74,81,97,106,117,125,135],"system.":[75],"The":[76,127],"plan":[77],"tracked":[79],"system,":[82],"represented":[83],"more":[86],"realistic,":[87],"higher":[88],"dimensional":[89],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">tracking":[92],".":[94],"precompute":[96],"tracking":[98,119],"error":[99],"bound":[100],"(TEB)":[101],"due":[102,110],"mismatch":[104],"between":[105],"two":[107],"models":[108],"external":[112],"disturbances.":[113],"also":[115],"obtain":[116],"corresponding":[118],"controller":[120],"used":[121],"stay":[123],"within":[124],"TEB.":[126],"precomputation":[128,144],"does":[129],"not":[130],"require":[131],"prior":[132],"knowledge":[133],"environment.":[136],"demonstrate":[138],"FaSTrack":[139],"using":[140],"Hamilton\u2013Jacobi":[141],"reachability":[142],"three":[146,152],"different":[147,153],"planners":[150],"with":[151],"tracking-planning":[154],"model":[155],"pairs.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
