{"id":"https://openalex.org/W4392638773","doi":"https://doi.org/10.1109/tcyb.2024.3366974","title":"A Two Phases Multiobjective Trajectory Optimization Scheme for Multi-UGVs in the Sight of the First Aid Scenario","display_name":"A Two Phases Multiobjective Trajectory Optimization Scheme for Multi-UGVs in the Sight of the First Aid Scenario","publication_year":2024,"publication_date":"2024-03-11","ids":{"openalex":"https://openalex.org/W4392638773","doi":"https://doi.org/10.1109/tcyb.2024.3366974","pmid":"https://pubmed.ncbi.nlm.nih.gov/38466588"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2024.3366974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3366974","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056539856","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0001-5165-0802"},"institutions":[{"id":"https://openalex.org/I4210126646","display_name":"Vanke (China)","ror":"https://ror.org/0329dzd04","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126646"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiyuan Chen","raw_affiliation_strings":["Vanke School of Public Health and the Institute for Healthy China, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5165-0802","affiliations":[{"raw_affiliation_string":"Vanke School of Public Health and the Institute for Healthy China, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210126646","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071650459","display_name":"Bikang Hua","orcid":"https://orcid.org/0009-0001-7479-8807"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bikang Hua","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-7479-8807","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018939360","display_name":"Yaoyao Lu","orcid":"https://orcid.org/0000-0002-7779-7068"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyao Lu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008939878","display_name":"Xi\u2010Ming Sun","orcid":"https://orcid.org/0000-0002-1883-3495"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi-Ming Sun","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-1883-3495","affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320478","display_name":"Shuai Liu","orcid":"https://orcid.org/0000-0002-0699-2296"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guo-Ping Liu","raw_affiliation_strings":["Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0699-2296","affiliations":[{"raw_affiliation_string":"Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101398104","display_name":"Wannian Liang","orcid":"https://orcid.org/0000-0003-1764-5502"},"institutions":[{"id":"https://openalex.org/I4210126646","display_name":"Vanke (China)","ror":"https://ror.org/0329dzd04","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126646"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wannian Liang","raw_affiliation_strings":["Vanke School of Public Health and the Institute for Healthy China, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanke School of Public Health and the Institute for Healthy China, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210126646","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.0999,"has_fulltext":false,"cited_by_count":98,"citation_normalized_percentile":{"value":0.99650978,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"54","issue":"9","first_page":"5078","last_page":"5091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9434000253677368,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9319999814033508,"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/computer-science","display_name":"Computer science","score":0.6643255352973938},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.661005437374115},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5117154121398926},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5055186748504639},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.49736741185188293},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4890371263027191},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.45658037066459656},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4519219398498535},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41009584069252014},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2304898500442505},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.19527018070220947},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16182366013526917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14469394087791443},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13587459921836853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10569494962692261}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6643255352973938},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.661005437374115},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5117154121398926},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5055186748504639},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.49736741185188293},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4890371263027191},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.45658037066459656},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4519219398498535},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41009584069252014},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2304898500442505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.19527018070220947},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16182366013526917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14469394087791443},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13587459921836853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10569494962692261},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2024.3366974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2024.3366974","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:38466588","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38466588","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7867207069","display_name":null,"funder_award_id":"SZSM202111001","funder_id":"https://openalex.org/F4320335767","funder_display_name":"Sanming Project of Medicine in Shenzhen"}],"funders":[{"id":"https://openalex.org/F4320335767","display_name":"Sanming Project of Medicine in Shenzhen","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2076422387","https://openalex.org/W2569552930","https://openalex.org/W2761151150","https://openalex.org/W2920787115","https://openalex.org/W2950619474","https://openalex.org/W2996899864","https://openalex.org/W3015837712","https://openalex.org/W3034159639","https://openalex.org/W3044582844","https://openalex.org/W3047325075","https://openalex.org/W3088218629","https://openalex.org/W3112239567","https://openalex.org/W3113070793","https://openalex.org/W3127566536","https://openalex.org/W3134840873","https://openalex.org/W3157825079","https://openalex.org/W3177536700","https://openalex.org/W3195143297","https://openalex.org/W3198919602","https://openalex.org/W3200299012","https://openalex.org/W3205622726","https://openalex.org/W3211357572","https://openalex.org/W3211390666","https://openalex.org/W4205219275","https://openalex.org/W4210607981","https://openalex.org/W4221124658","https://openalex.org/W4226250466","https://openalex.org/W4285108207","https://openalex.org/W4304480790","https://openalex.org/W4308499079","https://openalex.org/W4310466507","https://openalex.org/W4313039234","https://openalex.org/W4322576650"],"related_works":["https://openalex.org/W4313561376","https://openalex.org/W3103825105","https://openalex.org/W3027880158","https://openalex.org/W2142844925","https://openalex.org/W2513211214","https://openalex.org/W4240964608","https://openalex.org/W2085577866","https://openalex.org/W1994436307","https://openalex.org/W2198098822","https://openalex.org/W2022485595"],"abstract_inverted_index":{"Timely":[0],"delivery":[1,75],"of":[2,25,52,71,155,173,214],"first":[3,72,92,183],"aid":[4,73,184],"supplies":[5],"is":[6,88,138,165,179],"significant":[7],"to":[8,140,205],"saving":[9],"lives":[10],"when":[11,168],"an":[12,170],"accident":[13],"happens.":[14],"Among":[15],"the":[16,23,41,48,59,69,91,95,117,120,130,142,149,153,159,162,174,193,207,210,215],"promising":[17],"solutions":[18],"provided":[19],"for":[20,116,124],"such":[21,34],"scenarios,":[22],"application":[24],"unmanned":[26,54],"vehicles":[27,56],"has":[28],"attracted":[29],"ever":[30],"more":[31],"attention.":[32],"However,":[33],"scenarios":[35],"are":[36,108,190],"often":[37],"very":[38],"complex,":[39],"while":[40],"existing":[42],"studies":[43,198],"have":[44,201],"not":[45],"fully":[46],"addressed":[47],"trajectory":[49,66,102,176],"optimization":[50,67,86],"problem":[51,146],"multiple":[53],"ground":[55],"(multi-UGVs)":[57],"against":[58],"scenario.":[60],"This":[61],"study":[62],"focuses":[63],"on":[64],"multi-UGVs":[65],"in":[68,77,181],"sight":[70],"supply":[74],"tasks":[76],"mass":[78],"accidents.":[79],"A":[80],"two-stage":[81,160],"completely":[82],"decoupling":[83],"fuzzy":[84,134],"multiobjective":[85,127,135],"strategy":[87],"designed.":[89],"On":[90,129],"stage,":[93,132],"with":[94,152,192],"proposed":[96,216],"timescale":[97],"involved":[98],"tridimensional":[99,112],"tunneled":[100],"collision-free":[101,105],"(TITTCT)":[103],"algorithm,":[104],"coarse":[106],"tunnels":[107],"build":[109],"within":[110,148],"a":[111,125,133,182],"coordinate":[113],"system,":[114],"respectively,":[115],"UGVs":[118],"as":[119],"corresponding":[121],"configuration":[122,150],"space":[123,151],"further":[126],"optimization.":[128],"second":[131],"transcription":[136],"method":[137],"designed":[139],"solve":[141],"decoupled":[143],"optimal":[144,171],"control":[145],"(OCP)":[147],"consideration":[154],"priority":[156],"constrains.":[157],"Following":[158],"design,":[161],"computational":[163,212],"time":[164],"significantly":[166],"reduced":[167],"achieving":[169],"solution":[172],"multi-UGV":[175],"planning,":[177],"which":[178],"crucial":[180],"task.":[185],"In":[186],"addition,":[187],"other":[188],"objectives":[189],"optimized":[191],"aspiration":[194],"level":[195],"reflected.":[196],"Simulation":[197],"and":[199,209],"experiments":[200],"been":[202],"curried":[203],"out":[204],"testify":[206],"effectiveness":[208],"improved":[211],"performance":[213],"design.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":66},{"year":2024,"cited_by_count":17}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
