{"id":"https://openalex.org/W2339802450","doi":"https://doi.org/10.1109/tcst.2015.2475399","title":"Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance","display_name":"Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance","publication_year":2015,"publication_date":"2015-10-27","ids":{"openalex":"https://openalex.org/W2339802450","doi":"https://doi.org/10.1109/tcst.2015.2475399","mag":"2339802450"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2015.2475399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2475399","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-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/A5049786782","display_name":"Andreas J. H\u00e4usler","orcid":"https://orcid.org/0000-0001-5584-1155"},"institutions":[{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]},{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["DE","PT"],"is_corresponding":true,"raw_author_name":"Andreas J. Hausler","raw_affiliation_strings":["Center for Marine Environmental Sciences, Marine Technology Group, University of Bremen, Bremen, Germany","Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, University of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Center for Marine Environmental Sciences, Marine Technology Group, University of Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]},{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076959215","display_name":"Alessandro Saccon","orcid":"https://orcid.org/0000-0001-5318-1747"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Alessandro Saccon","raw_affiliation_strings":["Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Antonio Pedro Aguiar","raw_affiliation_strings":["Research Center for Systems and Technologies, Faculty of Engineering, University of Porto, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Research Center for Systems and Technologies, Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071811672","display_name":"John Hauser","orcid":"https://orcid.org/0000-0002-8129-7832"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Hauser","raw_affiliation_strings":["Department of Electrical, Computer, and Energy Engineering, University of Colorado at Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Energy Engineering, University of Colorado at Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042146195","display_name":"A. Pascoal","orcid":"https://orcid.org/0000-0002-0657-6671"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Antonio M. Pascoal","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, University of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049786782"],"corresponding_institution_ids":["https://openalex.org/I141596103","https://openalex.org/I180437899","https://openalex.org/I203847022"],"apc_list":null,"apc_paid":null,"fwci":4.8667,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.96841086,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"24","issue":"3","first_page":"867","last_page":"883"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9944000244140625,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9939000010490417,"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/motion-planning","display_name":"Motion planning","score":0.6010919213294983},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5695672035217285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609064102172852},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5481200814247131},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5468447208404541},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5025572776794434},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5014734268188477},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4867272675037384},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.476096510887146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4703400731086731},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.46287208795547485},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44480639696121216},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4172768294811249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3633188009262085},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34570449590682983},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32115262746810913},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27346259355545044},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2667529582977295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20280852913856506},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19460982084274292},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1907447874546051},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1485111117362976}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6010919213294983},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5695672035217285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609064102172852},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5481200814247131},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5468447208404541},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5025572776794434},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5014734268188477},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4867272675037384},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.476096510887146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4703400731086731},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.46287208795547485},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44480639696121216},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4172768294811249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3633188009262085},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34570449590682983},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32115262746810913},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27346259355545044},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2667529582977295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20280852913856506},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19460982084274292},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1907447874546051},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1485111117362976},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tcst.2015.2475399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2475399","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/2529bda4-c7d1-4fe7-b980-42ac4600c15c","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/2529bda4-c7d1-4fe7-b980-42ac4600c15c","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"H\u00e4usler, A J, Saccon, A, Aguiar, A P, Hauser, J & Pascoal, A M 2016, 'Energy-optimal motion planning for multiple robotic vehicles with collision avoidance', IEEE Transactions on Control Systems Technology, vol. 24, no. 3, 7308015, pp. 867-883. https://doi.org/10.1109/TCST.2015.2475399","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:887678","is_oa":false,"landing_page_url":"http://library.tue.nl/csp/dare/LinkToRepository.csp?recordnumber=887678","pdf_url":null,"source":{"id":"https://openalex.org/S4406923046","display_name":"TU/e Research Portal (Eindhoven University of Technology)","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":"ISSN:1063-6536","raw_type":"Article / Letter to the editor"},{"id":"pmh:oai:library.tue.nl:845684","is_oa":false,"landing_page_url":"http://repository.tue.nl/845684","pdf_url":null,"source":{"id":"https://openalex.org/S4406923046","display_name":"TU/e Research Portal (Eindhoven University of Technology)","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":"ISSN:1063-6536","raw_type":"Article / Letter to the editor"},{"id":"pmh:oai:library.tue.nl:887678","is_oa":false,"landing_page_url":"http://repository.tue.nl/887678","pdf_url":null,"source":{"id":"https://openalex.org/S4406923046","display_name":"TU/e Research Portal (Eindhoven University of Technology)","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":"ISSN:1063-6536","raw_type":"Article / Letter to the editor"},{"id":"pmh:tue:oai:pure.tue.nl:publications/2529bda4-c7d1-4fe7-b980-42ac4600c15c","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/2529bda4-c7d1-4fe7-b980-42ac4600c15c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 24(3):7308015, 867 - 883. Institute of Electrical and Electronics Engineers","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W177930832","https://openalex.org/W614173963","https://openalex.org/W1424654272","https://openalex.org/W1522531528","https://openalex.org/W1540305004","https://openalex.org/W1543051955","https://openalex.org/W1968478252","https://openalex.org/W1969811075","https://openalex.org/W1972300758","https://openalex.org/W1973573057","https://openalex.org/W1989165177","https://openalex.org/W1999484566","https://openalex.org/W2017714866","https://openalex.org/W2025687153","https://openalex.org/W2049424664","https://openalex.org/W2092678171","https://openalex.org/W2106907917","https://openalex.org/W2113265921","https://openalex.org/W2114072056","https://openalex.org/W2114958401","https://openalex.org/W2115098556","https://openalex.org/W2117571644","https://openalex.org/W2132275709","https://openalex.org/W2136534584","https://openalex.org/W2144324285","https://openalex.org/W2145362486","https://openalex.org/W2148592510","https://openalex.org/W2151104204","https://openalex.org/W2152931838","https://openalex.org/W2153888114","https://openalex.org/W2155700785","https://openalex.org/W2163411428","https://openalex.org/W2170485078","https://openalex.org/W2221321873","https://openalex.org/W2324133864","https://openalex.org/W2508492316","https://openalex.org/W4205731808","https://openalex.org/W4231879557","https://openalex.org/W4250589301","https://openalex.org/W6650404023","https://openalex.org/W6725886168"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,25,33,41,101,216],"numerical":[3,127],"algorithm":[4,108],"for":[5,69,129,223],"multiple-vehicle":[6,97],"motion":[7,71,98],"planning":[8,89,99],"that":[9,64,179,183,193],"explicitly":[10,83],"takes":[11],"into":[12,85],"account":[13,86],"the":[14,30,47,62,65,75,79,88,94,106,115,122,130,139,151,158,165,180,196,205,233],"vehicle":[15,70,80,202],"dynamics,":[16],"temporal":[17,207],"and":[18,21,57,113,154,174,203,208],"spatial":[19,209],"specifications,":[20],"energy-related":[22],"requirements.":[23],"As":[24],"motivating":[26],"example,":[27],"we":[28,177,184,227],"consider":[29],"case":[31,234],"where":[32],"group":[34],"of":[35,43,96,121,157,220,225,235],"vehicles":[36,159],"is":[37,124,142],"tasked":[38],"to":[39,61,110,137,215],"reach":[40],"number":[42],"target":[44],"points":[45],"at":[46,87],"same":[48],"time":[49],"(simultaneous":[50],"arrival":[51,132],"problem)":[52],"without":[53],"colliding":[54],"among":[55],"themselves":[56],"with":[58],"obstacles,":[59],"subject":[60],"requirement":[63],"overall":[66,197],"energy":[67,198],"required":[68,206],"be":[72],"minimized.":[73],"With":[74],"theoretical":[76],"setup":[77],"adopted,":[78],"dynamics":[81],"are":[82],"taken":[84],"level.":[90],"This":[91],"paper":[92,188],"formulates":[93],"problem":[95],"in":[100,172,186],"rigorous":[102],"mathematical":[103],"setting,":[104],"describes":[105],"optimization":[107,140,181],"used":[109],"solve":[111],"it,":[112],"discusses":[114],"key":[116],"implementation":[117],"details.":[118],"The":[119,134,211],"efficacy":[120],"method":[123,212],"illustrated":[125],"through":[126],"examples":[128],"simultaneous":[131],"problem.":[133],"initial":[135,153,166],"guess":[136],"start":[138],"procedure":[141,182],"obtained":[143,169],"from":[144],"simple":[145],"geometrical":[146],"considerations,":[147],"e.g.,":[148],"by":[149,200],"joining":[150],"desired":[152],"final":[155],"positions":[156],"via":[160],"straight":[161],"lines.":[162],"Even":[163],"though":[164],"trajectories":[167,192],"thus":[168],"may":[170],"result":[171],"intervehicle":[173],"vehicle/obstacle":[175],"collisions,":[176],"show":[178],"employ":[185],"this":[187],"will":[189],"generate":[190],"collision-free":[191],"also":[194],"minimize":[195],"spent":[199],"each":[201],"meet":[204],"constraints.":[210],"developed":[213],"applies":[214],"very":[217],"general":[218],"class":[219],"vehicles;":[221],"however,":[222],"clarity":[224],"exposition,":[226],"adopt":[228],"as":[229],"an":[230],"illustrative":[231],"example":[232],"wheeled":[236],"robots.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}