{"id":"https://openalex.org/W2988952354","doi":"https://doi.org/10.1109/tro.2019.2948801","title":"Communication-Aware Energy Efficient Trajectory Planning With Limited Channel Knowledge","display_name":"Communication-Aware Energy Efficient Trajectory Planning With Limited Channel Knowledge","publication_year":2019,"publication_date":"2019-11-12","ids":{"openalex":"https://openalex.org/W2988952354","doi":"https://doi.org/10.1109/tro.2019.2948801","mag":"2988952354"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2948801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2948801","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-02361259","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Daniel Bonilla Licea","orcid":"https://orcid.org/0000-0002-1993-4335"},"institutions":[{"id":"https://openalex.org/I4210106663","display_name":"International University of Rabat","ror":"https://ror.org/01t9czq80","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210106663"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Daniel Bonilla Licea","raw_affiliation_strings":["International University of Rabat, Morocco"],"raw_orcid":"https://orcid.org/0000-0002-1993-4335","affiliations":[{"raw_affiliation_string":"International University of Rabat, Morocco","institution_ids":["https://openalex.org/I4210106663"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088802495","display_name":"M. Bonilla","orcid":"https://orcid.org/0000-0003-3954-7380"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M. Bonilla","raw_affiliation_strings":["CINVESTAV-IPN, UMI 3575 CINVESTAV-CNRS, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV-IPN, UMI 3575 CINVESTAV-CNRS, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057324156","display_name":"Mounir Ghogho","orcid":"https://orcid.org/0000-0002-0055-7867"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]},{"id":"https://openalex.org/I4210106663","display_name":"International University of Rabat","ror":"https://ror.org/01t9czq80","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210106663"]}],"countries":["GB","MA"],"is_corresponding":false,"raw_author_name":"Mounir Ghogho","raw_affiliation_strings":["International University of Rabat, Morocco","University of Leeds, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International University of Rabat, Morocco","institution_ids":["https://openalex.org/I4210106663"]},{"raw_affiliation_string":"University of Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050592934","display_name":"Samson Lasaulce","orcid":"https://orcid.org/0000-0001-9837-9538"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Samson Lasaulce","raw_affiliation_strings":["CNRS, L2S (CNRS-CentraleSupelec-Univ. Saclay), Saint-Aubin, France"],"raw_orcid":"https://orcid.org/0000-0001-9837-9538","affiliations":[{"raw_affiliation_string":"CNRS, L2S (CNRS-CentraleSupelec-Univ. Saclay), Saint-Aubin, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210107720"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085539388","display_name":"Vineeth S. Varma","orcid":"https://orcid.org/0000-0001-8762-2790"},"institutions":[{"id":"https://openalex.org/I4210110792","display_name":"Centre de Recherche en Automatique de Nancy","ror":"https://ror.org/022r5hc56","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210099203","https://openalex.org/I4210100260","https://openalex.org/I4210110792","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vineeth S. Varma","raw_affiliation_strings":["CRAN, Universit\u00e9 de Lorraine, Metz, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRAN, Universit\u00e9 de Lorraine, Metz, France","institution_ids":["https://openalex.org/I4210110792","https://openalex.org/I90183372"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7054,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.85677502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"36","issue":"2","first_page":"431","last_page":"442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7129979729652405},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7106437683105469},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6993891596794128},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.6937757134437561},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.6586520671844482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6048368811607361},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5929964780807495},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5393355488777161},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.534195601940155},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5030767321586609},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46614471077919006},{"id":"https://openalex.org/keywords/wireless-network","display_name":"Wireless network","score":0.4506034851074219},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4243234694004059},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33658167719841003},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32947367429733276},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32698628306388855},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15975266695022583},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.153507262468338},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05735853314399719}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7129979729652405},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7106437683105469},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6993891596794128},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.6937757134437561},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.6586520671844482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6048368811607361},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5929964780807495},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5393355488777161},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.534195601940155},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5030767321586609},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46614471077919006},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.4506034851074219},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4243234694004059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33658167719841003},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32947367429733276},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32698628306388855},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15975266695022583},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.153507262468338},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05735853314399719},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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":2,"locations":[{"id":"doi:10.1109/tro.2019.2948801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2948801","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"},{"id":"pmh:oai:HAL:hal-02361259v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02361259","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2020, 36 (2), pp.431-442. &#x27E8;10.1109/TRO.2019.2948801&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02361259v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02361259","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2020, 36 (2), pp.431-442. &#x27E8;10.1109/TRO.2019.2948801&#x27E9;","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G3278534439","display_name":null,"funder_award_id":"2000007744","funder_id":"https://openalex.org/F4320306115","funder_display_name":"United States Agency for International Development"}],"funders":[{"id":"https://openalex.org/F4320306115","display_name":"United States Agency for International Development","ror":"https://ror.org/01n6e6j62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W570796597","https://openalex.org/W595252221","https://openalex.org/W616622582","https://openalex.org/W1484387568","https://openalex.org/W1487127700","https://openalex.org/W1491414160","https://openalex.org/W1534416612","https://openalex.org/W1556970733","https://openalex.org/W1574514837","https://openalex.org/W1887006513","https://openalex.org/W2000340206","https://openalex.org/W2037642060","https://openalex.org/W2039216363","https://openalex.org/W2053434307","https://openalex.org/W2058006523","https://openalex.org/W2066074119","https://openalex.org/W2106200370","https://openalex.org/W2109429694","https://openalex.org/W2111034649","https://openalex.org/W2115371028","https://openalex.org/W2135622428","https://openalex.org/W2139043285","https://openalex.org/W2155979277","https://openalex.org/W2161069643","https://openalex.org/W2165723471","https://openalex.org/W2171869298","https://openalex.org/W2277073966","https://openalex.org/W2339410153","https://openalex.org/W2407446103","https://openalex.org/W2411683644","https://openalex.org/W2414661092","https://openalex.org/W2568907318","https://openalex.org/W2570353617","https://openalex.org/W2610335499","https://openalex.org/W2623293810","https://openalex.org/W2798813531","https://openalex.org/W2963435916","https://openalex.org/W2964887472","https://openalex.org/W2991166118","https://openalex.org/W3137281211","https://openalex.org/W4231019594","https://openalex.org/W4239066252","https://openalex.org/W4254742956","https://openalex.org/W6770429502"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2402852349","https://openalex.org/W2766493616"],"abstract_inverted_index":{"Wireless":[0],"communications":[1],"is":[2,78],"nowadays":[3],"an":[4],"important":[5],"aspect":[6],"of":[7,134],"robotics.":[8],"There":[9],"are":[10],"many":[11],"applications":[12],"in":[13],"which":[14,31,57],"a":[15,20,28,51,107,115,127],"robot":[16,40,60,91,122],"must":[17],"move":[18],"to":[19,41,53,61,125],"certain":[21],"goal":[22,44,64],"point":[23,65],"while":[24,70,95],"transmitting":[25,71],"information":[26],"through":[27],"wireless":[29,99,109],"channel":[30,100,110],"depends":[32],"on":[33],"the":[34,39,43,59,63,82,90,120,132,135],"particular":[35],"trajectory":[36,83],"chosen":[37],"by":[38,80],"reach":[42,62],"point.":[45],"In":[46,102],"this":[47,103],"context,":[48],"we":[49,105],"develop":[50],"method":[52],"generate":[54],"optimum":[55],"trajectories":[56],"allow":[58],"using":[66],"little":[67],"mechanical":[68],"energy":[69,94],"as":[72,75,112,114],"much":[73],"data":[74],"possible.":[76],"This":[77],"done":[79],"optimizing":[81],"(path":[84],"and":[85],"velocity":[86],"profile)":[87],"so":[88],"that":[89],"consumes":[92],"less":[93],"also":[96],"offering":[97],"good":[98],"conditions.":[101],"article,":[104],"consider":[106],"realistic":[108,116],"model":[111,118],"well":[113],"dynamic":[117],"for":[119],"mobile":[121],"(considered":[123],"here":[124],"be":[126],"drone).":[128],"Simulations":[129],"results":[130],"illustrate":[131],"merits":[133],"proposed":[136],"method.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
