{"id":"https://openalex.org/W2048825531","doi":"https://doi.org/10.1109/tie.2014.2363632","title":"A Recursive Receding Horizon Planning for Unmanned Vehicles","display_name":"A Recursive Receding Horizon Planning for Unmanned Vehicles","publication_year":2014,"publication_date":"2014-10-17","ids":{"openalex":"https://openalex.org/W2048825531","doi":"https://doi.org/10.1109/tie.2014.2363632","mag":"2048825531"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2014.2363632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2014.2363632","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100392823","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0002-2577-6257"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["Department of Electrical Engineering, University of South Carolina, Columbia, SC, USA","Dept of Electr. Eng., Univ. of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]},{"raw_affiliation_string":"Dept of Electr. Eng., Univ. of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723088","display_name":"Liang Tang","orcid":"https://orcid.org/0000-0002-1037-7296"},"institutions":[{"id":"https://openalex.org/I4401726811","display_name":"Hartford Financial Services (United States)","ror":"https://ror.org/00mwq1g96","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726811"]},{"id":"https://openalex.org/I2801525552","display_name":"Whitney Museum of American Art","ror":"https://ror.org/01g1t6g78","country_code":"US","type":"archive","lineage":["https://openalex.org/I2801525552"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liang Tang","raw_affiliation_strings":["Pratt & Whitney, East Hartford, CT, USA","[Pratt & Whitney, East Hartford, CT, USA]"],"affiliations":[{"raw_affiliation_string":"Pratt & Whitney, East Hartford, CT, USA","institution_ids":["https://openalex.org/I2801525552","https://openalex.org/I4401726811"]},{"raw_affiliation_string":"[Pratt & Whitney, East Hartford, CT, USA]","institution_ids":["https://openalex.org/I2801525552","https://openalex.org/I4401726811"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049226598","display_name":"Jonathan DeCastro","orcid":"https://orcid.org/0000-0002-0933-9671"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan DeCastro","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","Dept. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108525595","display_name":"Michael Roemer","orcid":null},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael J. Roemer","raw_affiliation_strings":["Impact Technologies, LLC, A Sikorsky Innovations Company, Rochester, NY, USA","Impact Technol. LLC, Rochester, NY, USA"],"affiliations":[{"raw_affiliation_string":"Impact Technologies, LLC, A Sikorsky Innovations Company, Rochester, NY, USA","institution_ids":[]},{"raw_affiliation_string":"Impact Technol. LLC, Rochester, NY, USA","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071518289","display_name":"Kai Goebel","orcid":"https://orcid.org/0000-0002-0240-0943"},"institutions":[{"id":"https://openalex.org/I1280536761","display_name":"Ames Research Center","ror":"https://ror.org/02acart68","country_code":"US","type":"facility","lineage":["https://openalex.org/I1280536761","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kai Goebel","raw_affiliation_strings":["Ames Research Center, Moffett Field, CA, USA","NASA Ames Res. Center, Moffett Field, IA, USA"],"affiliations":[{"raw_affiliation_string":"Ames Research Center, Moffett Field, CA, USA","institution_ids":["https://openalex.org/I1280536761"]},{"raw_affiliation_string":"NASA Ames Res. Center, Moffett Field, IA, USA","institution_ids":["https://openalex.org/I1280536761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100392823"],"corresponding_institution_ids":["https://openalex.org/I155781252"],"apc_list":null,"apc_paid":null,"fwci":4.1459,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.95379365,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"62","issue":"5","first_page":"2912","last_page":"2920"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8959025740623474},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6286333799362183},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6205726861953735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5906800627708435},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5868077278137207},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5675033926963806},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45048993825912476},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3774987757205963},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3610232472419739},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21282914280891418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20986473560333252},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08066493272781372}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8959025740623474},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6286333799362183},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6205726861953735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5906800627708435},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5868077278137207},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5675033926963806},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45048993825912476},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3774987757205963},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3610232472419739},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21282914280891418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20986473560333252},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08066493272781372},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2014.2363632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2014.2363632","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3746749893","display_name":null,"funder_award_id":"NNX09CB61C","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W183780713","https://openalex.org/W1516784847","https://openalex.org/W1585104299","https://openalex.org/W1601512022","https://openalex.org/W1969483458","https://openalex.org/W1982809790","https://openalex.org/W2015742810","https://openalex.org/W2016667576","https://openalex.org/W2020068622","https://openalex.org/W2045306414","https://openalex.org/W2067554726","https://openalex.org/W2069710460","https://openalex.org/W2069744451","https://openalex.org/W2077831477","https://openalex.org/W2081794857","https://openalex.org/W2091015187","https://openalex.org/W2091231427","https://openalex.org/W2097568396","https://openalex.org/W2099065300","https://openalex.org/W2099144379","https://openalex.org/W2100512461","https://openalex.org/W2102315879","https://openalex.org/W2113256452","https://openalex.org/W2114396319","https://openalex.org/W2127817500","https://openalex.org/W2136613778","https://openalex.org/W2142740248","https://openalex.org/W2144150874","https://openalex.org/W2146215813","https://openalex.org/W2146500120","https://openalex.org/W2148332992","https://openalex.org/W2150470619","https://openalex.org/W2150984640","https://openalex.org/W2161086211","https://openalex.org/W2168309003","https://openalex.org/W2171363280","https://openalex.org/W2184975175","https://openalex.org/W2319069892","https://openalex.org/W2769140607","https://openalex.org/W3138509241","https://openalex.org/W4236251699","https://openalex.org/W6635932078","https://openalex.org/W6676758582","https://openalex.org/W6686385229","https://openalex.org/W6792389285"],"related_works":["https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2906267174","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612","https://openalex.org/W134501823"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,54,78,91,154,159],"recursive":[4],"receding":[5,79],"horizon":[6,80],"path":[7,74,97,110,166],"planning":[8,36,81,167],"algorithm":[9,37],"for":[10],"unmanned":[11],"vehicles":[12],"in":[13,26,158],"nonuniform":[14],"environments.":[15],"In":[16],"the":[17,20,39,57,61,65,69,96,101,112,117,130,141,144,164],"proposed":[18,165],"algorithm,":[19],"map":[21,40,88,93],"is":[22,53,64,75,98,114,150],"described":[23],"by":[24,124],"grids":[25],"which":[27],"nodes":[28,128,139],"are":[29],"defined":[30],"on":[31,140],"corners":[32],"of":[33,56,67,143,156],"grids.":[34],"The":[35,50,73],"considers":[38],"as":[41],"four":[42],"areas,":[43],"namely,":[44],"implementation,":[45],"observation,":[46],"explored,":[47],"and":[48,86],"unknown.":[49],"Implementation":[51],"area":[52,63,104,132],"subset":[55],"Observation":[58,71,103],"area,":[59],"whereas":[60],"Explored":[62,118,131,145],"union":[66],"all":[68],"previous":[70],"areas.":[72],"planned":[76,123],"with":[77],"strategy":[82],"to":[83,116,137,152,162],"generate":[84],"waypoints":[85],"in-between":[87],"updates.":[89],"When":[90],"new":[92],"update":[94],"occurs,":[95],"replanned":[99],"within":[100],"current":[102],"if":[105],"necessary.":[106],"If":[107],"no":[108],"such":[109],"exists,":[111],"search":[113],"extended":[115],"area.":[119,146],"Paths":[120],"can":[121,134],"be":[122,135],"recursively":[125],"searching":[126],"available":[127,138],"inside":[129],"that":[133],"connected":[136],"boundary":[142],"A":[147],"robot":[148],"platform":[149],"employed":[151],"conduct":[153],"series":[155],"experiments":[157],"laboratory":[160],"environment":[161],"verify":[163],"algorithm.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
