{"id":"https://openalex.org/W4312422301","doi":"https://doi.org/10.1109/tro.2022.3211131","title":"Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots","display_name":"Online Search-Based Collision-Inclusive Motion Planning and Control for Impact-Resilient Mobile Robots","publication_year":2022,"publication_date":"2022-11-03","ids":{"openalex":"https://openalex.org/W4312422301","doi":"https://doi.org/10.1109/tro.2022.3211131"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3211131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3211131","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/A5046486004","display_name":"Zhouyu Lu","orcid":"https://orcid.org/0000-0003-2243-9842"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhouyu Lu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2243-9842","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459798","display_name":"Zhichao Liu","orcid":"https://orcid.org/0000-0001-9432-4935"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhichao Liu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9432-4935","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057361994","display_name":"Merrick Campbell","orcid":"https://orcid.org/0000-0002-7231-2471"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Merrick Campbell","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006022077","display_name":"Konstantinos Karydis","orcid":"https://orcid.org/0000-0002-1144-8260"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Konstantinos Karydis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1144-8260","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8276,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.868081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"39","issue":"2","first_page":"1029","last_page":"1049"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/collision","display_name":"Collision","score":0.6832114458084106},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6716758608818054},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6437906622886658},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6392716765403748},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.631517767906189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6188438534736633},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5233932137489319},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.500544548034668},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.4659591317176819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40448540449142456},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38639575242996216},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3459116220474243},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34302574396133423},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0904574990272522}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6832114458084106},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6716758608818054},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6437906622886658},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6392716765403748},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.631517767906189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6188438534736633},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5233932137489319},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.500544548034668},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.4659591317176819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40448540449142456},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38639575242996216},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3459116220474243},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34302574396133423},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0904574990272522},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3211131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3211131","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":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W38081120","https://openalex.org/W135651235","https://openalex.org/W1496729756","https://openalex.org/W1535948966","https://openalex.org/W1605218591","https://openalex.org/W2011616675","https://openalex.org/W2048590216","https://openalex.org/W2056862136","https://openalex.org/W2062724719","https://openalex.org/W2112271657","https://openalex.org/W2114084597","https://openalex.org/W2124756273","https://openalex.org/W2127617835","https://openalex.org/W2147085616","https://openalex.org/W2482392012","https://openalex.org/W2484646121","https://openalex.org/W2526425245","https://openalex.org/W2560658338","https://openalex.org/W2571381532","https://openalex.org/W2587415290","https://openalex.org/W2601614959","https://openalex.org/W2612927266","https://openalex.org/W2613095649","https://openalex.org/W2761373498","https://openalex.org/W2768263061","https://openalex.org/W2771926486","https://openalex.org/W2772321183","https://openalex.org/W2772356073","https://openalex.org/W2891491652","https://openalex.org/W2897176597","https://openalex.org/W2899640472","https://openalex.org/W2962787639","https://openalex.org/W2963497136","https://openalex.org/W2968205211","https://openalex.org/W2968208971","https://openalex.org/W2968260248","https://openalex.org/W2969173984","https://openalex.org/W3000971638","https://openalex.org/W3011245715","https://openalex.org/W3021695530","https://openalex.org/W3044465487","https://openalex.org/W3091084109","https://openalex.org/W3099629894","https://openalex.org/W3106333735","https://openalex.org/W3125494316","https://openalex.org/W3130640781","https://openalex.org/W3132380533","https://openalex.org/W3159537771","https://openalex.org/W3187383968","https://openalex.org/W3205136620","https://openalex.org/W3206962181","https://openalex.org/W3209325542","https://openalex.org/W4213389237","https://openalex.org/W6683620479"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W4381746183","https://openalex.org/W2148917807","https://openalex.org/W2257960210","https://openalex.org/W2165574943","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2726391638","https://openalex.org/W1904098742"],"abstract_inverted_index":{"This":[0],"article":[1],"focuses":[2],"on":[3,68],"the":[4,34,75,84,89,140,147,162,167,202,216],"emerging":[5],"paradigm":[6],"shift":[7],"of":[8,179,239],"collision-inclusive":[9,212,225],"motion":[10,226],"planning":[11,96,227],"and":[12,18,28,43,81,114,131,135,151,166,171,188,210,228],"control":[13,42,112,229],"for":[14,24,224,236],"impact-resilient":[15,240],"mobile":[16,70],"robots,":[17],"develops":[19],"a":[20,39,69,94,127,132,237],"unified":[21],"hierarchical":[22,157],"framework":[23,158],"navigation":[25],"in":[26,186,230,243],"unknown":[27,231],"partially":[29],"observable":[30],"cluttered":[31],"spaces.":[32],"At":[33],"lower":[35],"level,":[36,91],"we":[37,92],"develop":[38],"deformation":[40,169],"recovery":[41,170],"trajectory":[44],"replanning":[45,172],"strategy":[46],"that":[47,50],"handles":[48],"collisions":[49,62,105],"may":[51],"occur":[52],"at":[53,88],"run":[54],"time,":[55],"locally.":[56],"The":[57,155],"low-level":[58],"system":[59],"actively":[60],"detects":[61],"(via":[63],"embedded":[64],"Hall":[65],"effect":[66],"sensors":[67],"robot":[71,76],"built":[72],"in-house),":[73],"enables":[74],"to":[77,98,101,106,145,195],"recover":[78],"from":[79],"them,":[80],"locally":[82],"adjusts":[83],"postimpact":[85],"trajectory.":[86],"Then,":[87],"higher":[90,217],"propose":[93],"search-based":[95,198,208],"algorithm":[97,142,165],"determine":[99],"how":[100],"best":[102],"utilize":[103],"potential":[104],"improve":[107],"certain":[108],"metrics,":[109],"such":[110],"as":[111,174,176,205,207],"energy":[113],"computational":[115],"time.":[116],"Our":[117],"method":[118],"builds":[119],"upon":[120],"A*":[121,141,164],"with":[122,233],"jump":[123],"points.":[124],"We":[125],"generate":[126],"novel":[128],"heuristic":[129],"function,":[130],"collision":[133],"checking":[134],"adjustment":[136],"technique,":[137],"thus":[138],"making":[139],"converge":[143],"faster":[144],"reach":[146],"goal":[148],"by":[149,160],"exploiting":[150],"utilizing":[152],"possible":[153],"collisions.":[154],"overall":[156,203],"generated":[159],"combining":[161],"global":[163,213],"local":[168],"strategy,":[173],"well":[175,206],"individual":[177],"components":[178],"this":[180],"framework,":[181],"are":[182],"tested":[183],"extensively":[184],"both":[185],"simulation":[187],"experimentally.":[189],"An":[190],"ablation":[191],"study":[192],"draws":[193],"links":[194],"related":[196],"state-of-the-art":[197],"collision-avoidance":[199,209],"planners":[200,214],"(for":[201,215],"framework),":[204],"sampling-based":[211],"level).":[218],"Results":[219],"demonstrate":[220],"our":[221],"method's":[222],"efficacy":[223],"environments":[232],"isolated":[234],"obstacles":[235],"class":[238],"robots":[241],"operating":[242],"2-D.":[244]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
