{"id":"https://openalex.org/W2066120278","doi":"https://doi.org/10.1109/tro.2011.2171613","title":"Hierarchical Motion Planning With Dynamical Feasibility Guarantees for Mobile Robotic Vehicles","display_name":"Hierarchical Motion Planning With Dynamical Feasibility Guarantees for Mobile Robotic Vehicles","publication_year":2011,"publication_date":"2011-11-10","ids":{"openalex":"https://openalex.org/W2066120278","doi":"https://doi.org/10.1109/tro.2011.2171613","mag":"2066120278"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2171613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2171613","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5075056777","display_name":"Raghvendra V. Cowlagi","orcid":"https://orcid.org/0000-0002-9365-3021"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Raghvendra V. Cowlagi","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","Labs. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Labs. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Tsiotras","raw_affiliation_strings":["School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of AeroSpace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075056777"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":5.1515,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.96349196,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"28","issue":"2","first_page":"379","last_page":"395"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9807999730110168,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8258573412895203},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6025079488754272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5662305355072021},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5410105586051941},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5349693894386292},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.486481636762619},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46615490317344666},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.44321396946907043},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.42085596919059753},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41550832986831665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27283135056495667},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2664707899093628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2305213212966919}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8258573412895203},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6025079488754272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662305355072021},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5410105586051941},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5349693894386292},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.486481636762619},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46615490317344666},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.44321396946907043},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.42085596919059753},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41550832986831665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27283135056495667},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2664707899093628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2305213212966919},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2171613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2171613","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W73627945","https://openalex.org/W73629738","https://openalex.org/W1424654272","https://openalex.org/W1494702074","https://openalex.org/W1508703730","https://openalex.org/W1521785144","https://openalex.org/W1589297171","https://openalex.org/W1971086298","https://openalex.org/W1979696180","https://openalex.org/W1995356523","https://openalex.org/W2000359213","https://openalex.org/W2003835006","https://openalex.org/W2006557476","https://openalex.org/W2034801091","https://openalex.org/W2036016432","https://openalex.org/W2048820947","https://openalex.org/W2050576295","https://openalex.org/W2053966554","https://openalex.org/W2056864430","https://openalex.org/W2065297540","https://openalex.org/W2069522844","https://openalex.org/W2071875412","https://openalex.org/W2077091230","https://openalex.org/W2079305994","https://openalex.org/W2079465904","https://openalex.org/W2083907923","https://openalex.org/W2088363568","https://openalex.org/W2090170700","https://openalex.org/W2091197916","https://openalex.org/W2098432798","https://openalex.org/W2106569214","https://openalex.org/W2106586210","https://openalex.org/W2109791194","https://openalex.org/W2109996097","https://openalex.org/W2110982396","https://openalex.org/W2113526778","https://openalex.org/W2116647221","https://openalex.org/W2122410182","https://openalex.org/W2128990851","https://openalex.org/W2129409555","https://openalex.org/W2134312936","https://openalex.org/W2139186974","https://openalex.org/W2143017110","https://openalex.org/W2146467128","https://openalex.org/W2146934839","https://openalex.org/W2148970883","https://openalex.org/W2149906774","https://openalex.org/W2150335178","https://openalex.org/W2155858540","https://openalex.org/W2156123119","https://openalex.org/W2158285627","https://openalex.org/W2163411428","https://openalex.org/W2165744968","https://openalex.org/W2167058996","https://openalex.org/W2168550231","https://openalex.org/W2611243847","https://openalex.org/W2623293810","https://openalex.org/W4214494916","https://openalex.org/W4246219036","https://openalex.org/W4285719527","https://openalex.org/W6603016052","https://openalex.org/W6630368405","https://openalex.org/W6680674931"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W1904098742","https://openalex.org/W2908094156","https://openalex.org/W3158921809","https://openalex.org/W2389896347","https://openalex.org/W2161428574","https://openalex.org/W2106119116","https://openalex.org/W2077416514","https://openalex.org/W2904203243"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"for":[2,148],"mobile":[3],"vehicles":[4],"involves":[5],"the":[6,12,20,43,47,53,105,108,139,149],"solution":[7,29],"of":[8,14,22,30,76,94,107,128,142,152],"two":[9,32,74,118,140],"disparate":[10],"subproblems:":[11],"satisfaction":[13],"high-level":[15,44],"logical":[16],"task":[17],"specifications":[18],"and":[19,46,96,130],"design":[21],"low-level":[23],"vehicle":[24,54],"control":[25],"laws.":[26],"A":[27],"hierarchical":[28],"these":[31,73],"subproblems":[33],"is":[34,66],"efficient,":[35],"but":[36],"it":[37],"may":[38],"not":[39],"ensure":[40],"compatibility":[41],"between":[42,72,138],"planner":[45,102,134,156],"constraints":[48],"that":[49,65,111,124,135],"are":[50],"imposed":[51],"by":[52,144],"dynamics.":[55],"To":[56],"guarantee":[57],"such":[58],"compatibility,":[59],"we":[60,80,97],"propose":[61],"a":[62,69,82,88,91,99,121,131,153],"motion-planning":[63],"framework":[64],"based":[67],"on":[68,87,117,126],"special":[70,83],"interaction":[71],"levels":[75,141],"planning.":[77],"In":[78],"particular,":[79],"solve":[81],"shortest":[84],"path":[85],"problem":[86],"graph":[89],"at":[90],"higher":[92,154],"level":[93,101,133,155],"planning,":[95],"use":[98],"lower":[100,132],"to":[103],"determine":[104],"costs":[106,147],"paths":[109],"in":[110],"graph.":[112],"The":[113],"overall":[114],"approach":[115],"hinges":[116],"novel":[119],"ingredients:":[120],"graph-search":[122],"algorithm":[123],"operates":[125],"sequences":[127],"vertices":[129],"ensures":[136],"consistency":[137],"hierarchy":[143],"providing":[145],"meaningful":[146],"edge":[150],"transitions":[151],"using":[157],"dynamically":[158],"feasible,":[159],"collision-free":[160],"trajectories.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
