{"id":"https://openalex.org/W2294538342","doi":"https://doi.org/10.1109/tro.2015.2459373","title":"Homotopy-Based Divide-and-Conquer Strategy for Optimal Trajectory Planning via Mixed-Integer Programming","display_name":"Homotopy-Based Divide-and-Conquer Strategy for Optimal Trajectory Planning via Mixed-Integer Programming","publication_year":2015,"publication_date":"2015-08-13","ids":{"openalex":"https://openalex.org/W2294538342","doi":"https://doi.org/10.1109/tro.2015.2459373","mag":"2294538342"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2459373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2459373","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/A5083995455","display_name":"Junghee Park","orcid":"https://orcid.org/0000-0001-7033-4653"},"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Junghee Park","raw_affiliation_strings":["Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079292151","display_name":"Sisir Karumanchi","orcid":"https://orcid.org/0000-0002-0685-4125"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sisir Karumanchi","raw_affiliation_strings":["Manipulation and Sampling Group, Mobility and Robotic Systems Section, NASA Jet Propulsion Laboratory, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Manipulation and Sampling Group, Mobility and Robotic Systems Section, NASA Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052432097","display_name":"Karl Iagnemma","orcid":null},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl Iagnemma","raw_affiliation_strings":["Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083995455"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.9455,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.94253124,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"31","issue":"5","first_page":"1101","last_page":"1115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9797999858856201,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9726999998092651,"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/trajectory","display_name":"Trajectory","score":0.7360687255859375},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.7071967720985413},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5708449482917786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5435606241226196},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.5250903367996216},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5102906227111816},{"id":"https://openalex.org/keywords/divide-and-conquer-algorithms","display_name":"Divide and conquer algorithms","score":0.5094109177589417},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4918113052845001},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.47295185923576355},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.46599140763282776},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4633280634880066},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4191811978816986},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4165342450141907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3978472650051117},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.36826568841934204},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24596655368804932},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16758021712303162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15452724695205688}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7360687255859375},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7071967720985413},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5708449482917786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5435606241226196},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.5250903367996216},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5102906227111816},{"id":"https://openalex.org/C71559656","wikidata":"https://www.wikidata.org/wiki/Q671298","display_name":"Divide and conquer algorithms","level":2,"score":0.5094109177589417},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4918113052845001},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.47295185923576355},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.46599140763282776},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4633280634880066},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4191811978816986},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4165342450141907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3978472650051117},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.36826568841934204},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24596655368804932},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16758021712303162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15452724695205688},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2015.2459373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2459373","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":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1486587557","display_name":null,"funder_award_id":"W911NF-11-1-0046","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1566622904","https://openalex.org/W1977219675","https://openalex.org/W1982809790","https://openalex.org/W1984647968","https://openalex.org/W1985574396","https://openalex.org/W1992787855","https://openalex.org/W2006455928","https://openalex.org/W2009530930","https://openalex.org/W2011282943","https://openalex.org/W2011477052","https://openalex.org/W2014843742","https://openalex.org/W2053407718","https://openalex.org/W2077007971","https://openalex.org/W2140305633","https://openalex.org/W2146467128","https://openalex.org/W2156195472","https://openalex.org/W2189076595","https://openalex.org/W2295417718","https://openalex.org/W2505968561","https://openalex.org/W2557486307","https://openalex.org/W2595833503","https://openalex.org/W2911302472","https://openalex.org/W6650279133","https://openalex.org/W6682894910","https://openalex.org/W6697205691"],"related_works":["https://openalex.org/W2352794675","https://openalex.org/W1539994214","https://openalex.org/W2051228988","https://openalex.org/W4247094814","https://openalex.org/W108531593","https://openalex.org/W2111712077","https://openalex.org/W8810113","https://openalex.org/W2158636562","https://openalex.org/W1616815502","https://openalex.org/W2327610550"],"abstract_inverted_index":{"This":[0],"paper":[1,87],"proposes":[2],"an":[3],"optimal":[4],"trajectory":[5,29,31,67,109,144],"generation":[6,110],"framework":[7,181],"in":[8],"which":[9,71],"the":[10,49,53,73,86,94,124,143,163],"global":[11],"obstacle-avoidance":[12],"problem":[13,74,146],"is":[14,52,88,93,131,136],"decomposed":[15,77],"into":[16,78,176],"simpler":[17,79],"subproblems,":[18],"corresponding":[19],"to":[20,27,40,58,75,104],"distinct":[21,63],"path":[22],"homotopies.":[23],"In":[24,119],"classical":[25],"approaches":[26],"homotopic":[28],"planning,":[30],"planning":[32,68],"and":[33,60,106,117,128,158],"homotopy":[34,64,129],"identification":[35],"are":[36,166],"performed":[37],"simultaneously,":[38],"leading":[39],"a":[41,56,97,121,137,148,177],"substantial":[42],"computational":[43],"burden.":[44],"The":[45,82,90,133,171],"main":[46,83],"benefit":[47],"of":[48,55,85,96,142,162],"proposed":[50,125,164,172],"approach":[51,165],"development":[54],"method":[57,98],"enumerate":[59,105],"explicitly":[61],"represent":[62,107],"classes":[65,130],"before":[66],"or":[69],"optimization,":[70],"allow":[72],"be":[76,114],"independent":[80],"subproblems.":[81],"contribution":[84,92,135],"twofold.":[89],"first":[91],"description":[95],"for":[99],"utilizing":[100],"existing":[101],"cell-decomposition":[102],"methods":[103],"local":[108],"problems":[111],"that":[112],"can":[113],"solved":[115],"efficiently":[116],"independently.":[118],"addition,":[120],"relationship":[122],"between":[123],"cell-sequence":[126],"representation":[127],"analyzed.":[132],"second":[134],"computationally":[138],"efficient":[139],"novel":[140],"formulation":[141,174],"optimization":[145],"within":[147],"cell":[149],"sequence":[150],"via":[151],"mixed-integer":[152],"quadratic":[153],"programming":[154],"(MIQP).":[155],"Computational":[156],"efficiency":[157],"increased":[159],"solution":[160],"richness":[161],"demonstrated":[167],"through":[168],"simulation":[169],"studies.":[170],"MIQP":[173],"fits":[175],"linear":[178],"model-predictive":[179],"control":[180],"with":[182],"nonconvex":[183],"collision-free":[184],"constraints.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}