{"id":"https://openalex.org/W4379409409","doi":"https://doi.org/10.1109/tcst.2023.3275497","title":"Localization and Motion Planning of Industrial Tractor\u2013Trailers Vehicles","display_name":"Localization and Motion Planning of Industrial Tractor\u2013Trailers Vehicles","publication_year":2023,"publication_date":"2023-06-05","ids":{"openalex":"https://openalex.org/W4379409409","doi":"https://doi.org/10.1109/tcst.2023.3275497"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3275497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3275497","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/A5062930808","display_name":"Hongchao Zhao","orcid":"https://orcid.org/0000-0002-0709-1764"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongchao Zhao","raw_affiliation_strings":["T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR"],"raw_orcid":"https://orcid.org/0000-0002-0709-1764","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049316918","display_name":"Wen Chen","orcid":"https://orcid.org/0000-0001-6754-6612"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wen Chen","raw_affiliation_strings":["T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR"],"raw_orcid":"https://orcid.org/0000-0001-6754-6612","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042268476","display_name":"Shunbo Zhou","orcid":"https://orcid.org/0000-0002-6077-4951"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shunbo Zhou","raw_affiliation_strings":["T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR"],"raw_orcid":"https://orcid.org/0000-0002-6077-4951","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101911590","display_name":"Zheng Fan","orcid":"https://orcid.org/0000-0001-9668-802X"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zheng","raw_affiliation_strings":["VisionNav Robotics Ltd., Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9668-802X","affiliations":[{"raw_affiliation_string":"VisionNav Robotics Ltd., Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR"],"raw_orcid":"https://orcid.org/0000-0002-3625-6679","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute and the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, Hong Kong, SAR","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4596,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.84124875,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"31","issue":"6","first_page":"2928","last_page":"2936"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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":0.9972000122070312,"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":0.963100016117096,"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":0.9222999811172485,"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/tractor","display_name":"Tractor","score":0.7794229984283447},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6828928589820862},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.6074992418289185},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5821507573127747},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49739721417427063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49342480301856995},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4903371334075928},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.47019752860069275},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.4607137143611908},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4504958391189575},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43219444155693054},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3851499557495117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3783516585826874},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.2925088405609131},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2911388874053955},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.22882375121116638},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19495344161987305},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19304323196411133},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1851043403148651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17184939980506897}],"concepts":[{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.7794229984283447},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6828928589820862},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.6074992418289185},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5821507573127747},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49739721417427063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49342480301856995},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4903371334075928},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.47019752860069275},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.4607137143611908},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4504958391189575},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43219444155693054},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3851499557495117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3783516585826874},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2925088405609131},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2911388874053955},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.22882375121116638},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19495344161987305},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19304323196411133},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1851043403148651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17184939980506897},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/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/tcst.2023.3275497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3275497","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1634631696","https://openalex.org/W1937005710","https://openalex.org/W1989340725","https://openalex.org/W2137813581","https://openalex.org/W2152864241","https://openalex.org/W2153054365","https://openalex.org/W2154844948","https://openalex.org/W2165216595","https://openalex.org/W2165951625","https://openalex.org/W2482726005","https://openalex.org/W2745007981","https://openalex.org/W2774451424","https://openalex.org/W2909908358","https://openalex.org/W2981547524","https://openalex.org/W3003663591","https://openalex.org/W3091393755","https://openalex.org/W3103631595","https://openalex.org/W3125449081","https://openalex.org/W3128451919","https://openalex.org/W4249866455","https://openalex.org/W6640464646"],"related_works":["https://openalex.org/W3176873138","https://openalex.org/W1597099033","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W4379780406","https://openalex.org/W3200041777","https://openalex.org/W3006894944","https://openalex.org/W2863424594","https://openalex.org/W3033981548"],"abstract_inverted_index":{"This":[0],"brief":[1],"presents":[2],"real-time":[3],"configuration":[4,30],"estimation":[5,75],"and":[6,20,54,68,91,108,153],"motion":[7,126],"planning":[8,101],"for":[9],"the":[10,25,29,51,57,78,83,106,112,115,144,166,172,175],"industrial":[11,177],"tractor\u2013trailers":[12],"vehicle":[13],"composed":[14],"of":[15,114],"a":[16,70,72,119,138],"full-scale":[17],"car-like":[18],"tractor":[19],"multiple":[21],"full":[22],"trailers.":[23],"For":[24],"real-life":[26,176],"vehicle,":[27],"determining":[28],"is":[31,63,94,132,158],"challenging.":[32],"With":[33,82],"only":[34],"on-tractor":[35],"sensors,":[36],"we":[37],"solve":[38],"this":[39],"problem":[40,76],"by":[41,66,117,134],"fusing":[42],"information":[43],"from":[44,100],"system":[45,168],"dynamics":[46,107],"propagation,":[47],"geometrical":[48],"constraints":[49],"among":[50],"articulated":[52],"units,":[53],"matching":[55],"with":[56,174],"prebuilt":[58],"environment":[59],"map.":[60],"The":[61,128,146,156],"solution":[62],"efficiently":[64,147],"achieved":[65],"formulating":[67],"solving":[69],"maximum":[71],"posterior":[73],"(MAP)":[74],"in":[77,161],"pose-graph":[79],"optimization":[80],"framework.":[81],"complicated":[84],"tractor\u2013trailers\u2019":[85,178],"structure,":[86],"small":[87],"mismatch":[88,116],"between":[89],"actual":[90],"planned":[92,167],"trajectories":[93,149],"crucial":[95],"to":[96,102,123,142,163],"inherit":[97],"obstacle-free":[98,152],"guarantee":[99],"execution.":[103],"We":[104,170],"consider":[105],"focus":[109],"on":[110],"facilitating":[111],"reduction":[113],"proposing":[118],"controller-based":[120],"smoothing":[121],"method":[122],"perform":[124],"online":[125],"planning.":[127],"given":[129],"waypoint":[130],"path":[131],"smoothed":[133],"forward":[135],"propagation":[136],"using":[137],"deliberately":[139],"designed":[140],"controller":[141,157],"generate":[143],"trajectory.":[145],"computed":[148],"are":[150],"also":[151,159],"dynamically":[154],"feasible.":[155],"applied":[160],"execution":[162],"precisely":[164],"reproduce":[165],"evolvement.":[169],"demonstrate":[171],"performance":[173],"vehicle.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
