{"id":"https://openalex.org/W3159851186","doi":"https://doi.org/10.1109/tro.2022.3208502","title":"KDF: Kinodynamic Motion Planning via Geometric Sampling-Based Algorithms and Funnel Control","display_name":"KDF: Kinodynamic Motion Planning via Geometric Sampling-Based Algorithms and Funnel Control","publication_year":2022,"publication_date":"2022-10-05","ids":{"openalex":"https://openalex.org/W3159851186","doi":"https://doi.org/10.1109/tro.2022.3208502","mag":"3159851186"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3208502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3208502","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/A5016121500","display_name":"Christos K. Verginis","orcid":"https://orcid.org/0000-0002-4289-2866"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Christos K. Verginis","raw_affiliation_strings":["Division of Signals and Systems, Department of Electrical Engineering, Uppsala University, Uppsala, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Signals and Systems, Department of Electrical Engineering, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["School of Electrical and Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016121500"],"corresponding_institution_ids":["https://openalex.org/I123387679"],"apc_list":null,"apc_paid":null,"fwci":1.6121,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.84076932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"39","issue":"2","first_page":"978","last_page":"997"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.994700014591217,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940999746322632,"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/funnel","display_name":"Funnel","score":0.8040509223937988},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7265909910202026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5345351696014404},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4645279347896576},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4250418245792389},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4040946960449219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36337220668792725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23754605650901794},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1718810498714447}],"concepts":[{"id":"https://openalex.org/C17435862","wikidata":"https://www.wikidata.org/wiki/Q29957","display_name":"Funnel","level":2,"score":0.8040509223937988},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7265909910202026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5345351696014404},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4645279347896576},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4250418245792389},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4040946960449219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36337220668792725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23754605650901794},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1718810498714447},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3208502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3208502","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":0.6600000262260437,"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":76,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W589364317","https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1508056422","https://openalex.org/W1521785144","https://openalex.org/W1603030703","https://openalex.org/W1814533834","https://openalex.org/W1963969090","https://openalex.org/W1971086298","https://openalex.org/W1974628142","https://openalex.org/W1990388487","https://openalex.org/W2000359213","https://openalex.org/W2023526688","https://openalex.org/W2026941035","https://openalex.org/W2046287268","https://openalex.org/W2046344033","https://openalex.org/W2066769138","https://openalex.org/W2068945175","https://openalex.org/W2082511574","https://openalex.org/W2083483041","https://openalex.org/W2090167557","https://openalex.org/W2097121541","https://openalex.org/W2100538121","https://openalex.org/W2103052138","https://openalex.org/W2110144538","https://openalex.org/W2110762409","https://openalex.org/W2119955255","https://openalex.org/W2128990851","https://openalex.org/W2129505327","https://openalex.org/W2134898774","https://openalex.org/W2140880347","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2149327659","https://openalex.org/W2150765347","https://openalex.org/W2164597015","https://openalex.org/W2164929784","https://openalex.org/W2166271005","https://openalex.org/W2168430074","https://openalex.org/W2168992242","https://openalex.org/W2171266831","https://openalex.org/W2206406304","https://openalex.org/W2291649624","https://openalex.org/W2295899921","https://openalex.org/W2313978041","https://openalex.org/W2346634033","https://openalex.org/W2418555985","https://openalex.org/W2468927877","https://openalex.org/W2529509461","https://openalex.org/W2588802774","https://openalex.org/W2739535774","https://openalex.org/W2890358241","https://openalex.org/W2908970796","https://openalex.org/W2946703615","https://openalex.org/W2962775704","https://openalex.org/W2962822210","https://openalex.org/W2963233809","https://openalex.org/W2964306184","https://openalex.org/W2967333821","https://openalex.org/W2968646325","https://openalex.org/W2972864268","https://openalex.org/W3022776424","https://openalex.org/W3046925685","https://openalex.org/W3048479851","https://openalex.org/W3091056066","https://openalex.org/W3091528111","https://openalex.org/W3094461361","https://openalex.org/W3103346840","https://openalex.org/W3104543508","https://openalex.org/W3128922329","https://openalex.org/W3131580247","https://openalex.org/W3168522732","https://openalex.org/W3207782042","https://openalex.org/W4206558242","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W2073875810","https://openalex.org/W4289260319","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"We":[0],"integrate":[1],"sampling-based":[2],"planning":[3],"techniques":[4],"with":[5,140],"funnel-based":[6],"feedback":[7],"control":[8,66,83,113],"to":[9,29,48,101,117],"develop":[10,62],"KDF,":[11],"a":[12,43,50,55,63,102,141],"new":[13],"framework":[14],"for":[15],"solving":[16],"the":[17,73,76,79,82,88,92,96,111,120,123,127,146],"kinodynamic":[18],"motion-planning":[19],"problem":[20],"via":[21],"funnel":[22,65,112],"control.":[23],"The":[24],"considered":[25],"systems":[26,107],"evolve":[27],"subject":[28],"complex,":[30],"nonlinear,":[31],"and":[32,108,137],"uncertain":[33],"dynamics":[34,90,121],"(also":[35],"known":[36],"as":[37],"differential":[38],"constraints).":[39],"First,":[40],"we":[41,61],"use":[42],"<italic":[44],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[45],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">geometric</i>":[46],"planner":[47,80],"obtain":[49],"high-level":[51],"safe":[52,70],"path":[53,74],"in":[54],"user-defined":[56],"extended":[57],"free":[58],"space.":[59],"Second,":[60],"low-level":[64],"algorithm":[67,84],"that":[68],"guarantees":[69],"tracking":[71],"of":[72,91,105,122,129],"by":[75],"system.":[77],"Neither":[78],"nor":[81],"uses":[85],"information":[86],"on":[87],"underlying":[89],"system,":[93,124],"which":[94],"makes":[95],"proposed":[97,147],"scheme":[98],"easily":[99],"distributable":[100],"large":[103],"variety":[104],"different":[106],"scenarios.":[109],"Intuitively,":[110],"module":[114],"is":[115],"able":[116],"implicitly":[118],"accommodate":[119],"allowing":[125],"hence":[126],"deployment":[128],"purely":[130],"geometrical":[131],"motion":[132],"planners.":[133],"Extensive":[134],"computer":[135],"simulations":[136],"hardware":[138],"experiments":[139],"6-DOF":[142],"robotic":[143],"arm":[144],"validate":[145],"approach.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
