{"id":"https://openalex.org/W4386156806","doi":"https://doi.org/10.1109/tro.2023.3302239","title":"LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems","display_name":"LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems","publication_year":2023,"publication_date":"2023-08-25","ids":{"openalex":"https://openalex.org/W4386156806","doi":"https://doi.org/10.1109/tro.2023.3302239"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3302239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3302239","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/625515","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013495566","display_name":"Edo Jelavi\u0107","orcid":"https://orcid.org/0000-0002-1757-5543"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Edo Jelavic","raw_affiliation_strings":["Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1757-5543","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103191650","display_name":"Kaixian Qu","orcid":"https://orcid.org/0009-0003-4998-5576"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaixian Qu","raw_affiliation_strings":["Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0003-4998-5576","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040208292","display_name":"Farbod Farshidian","orcid":"https://orcid.org/0000-0001-8269-6272"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farbod Farshidian","raw_affiliation_strings":["Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8269-6272","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1438,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.93546496,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"6","first_page":"4190","last_page":"4210"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"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/motion-planning","display_name":"Motion planning","score":0.6880655288696289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.646656334400177},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.5989063382148743},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5893099308013916},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5569100379943848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5292550921440125},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.50662761926651},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5050209164619446},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4189176559448242},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.4177038073539734},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.38441601395606995},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3294439911842346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2767563760280609},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2248115837574005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20171263813972473},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13546264171600342},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.06536200642585754}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6880655288696289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.646656334400177},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.5989063382148743},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5893099308013916},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5569100379943848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5292550921440125},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.50662761926651},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5050209164619446},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4189176559448242},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.4177038073539734},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38441601395606995},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3294439911842346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2767563760280609},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2248115837574005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20171263813972473},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13546264171600342},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.06536200642585754},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2023.3302239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3302239","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"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/625515","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/625515","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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, 39 (6)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.3929/ethz-b-000625515","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000625515","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/625515","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/625515","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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, 39 (6)","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G2041635011","display_name":null,"funder_award_id":"852044","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"},{"id":"https://openalex.org/G462353840","display_name":null,"funder_award_id":"188596","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":97,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1509540129","https://openalex.org/W1518641734","https://openalex.org/W1562460111","https://openalex.org/W1592294156","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W2000359213","https://openalex.org/W2006010000","https://openalex.org/W2046379366","https://openalex.org/W2049561732","https://openalex.org/W2069292694","https://openalex.org/W2095143145","https://openalex.org/W2110762409","https://openalex.org/W2114171536","https://openalex.org/W2123871098","https://openalex.org/W2128990851","https://openalex.org/W2138419444","https://openalex.org/W2161675447","https://openalex.org/W2169673025","https://openalex.org/W2345626358","https://openalex.org/W2419326772","https://openalex.org/W2471969791","https://openalex.org/W2519452711","https://openalex.org/W2521850085","https://openalex.org/W2568609992","https://openalex.org/W2571115941","https://openalex.org/W2587742116","https://openalex.org/W2735248244","https://openalex.org/W2762555062","https://openalex.org/W2768737714","https://openalex.org/W2775361709","https://openalex.org/W2784947652","https://openalex.org/W2788030459","https://openalex.org/W2789286310","https://openalex.org/W2793991136","https://openalex.org/W2811027829","https://openalex.org/W2892184971","https://openalex.org/W2905259751","https://openalex.org/W2906487027","https://openalex.org/W2912365230","https://openalex.org/W2938249325","https://openalex.org/W2949658140","https://openalex.org/W2950546634","https://openalex.org/W2951633861","https://openalex.org/W2952867577","https://openalex.org/W2963033617","https://openalex.org/W2970228732","https://openalex.org/W2980301669","https://openalex.org/W3003188160","https://openalex.org/W3010768390","https://openalex.org/W3011896035","https://openalex.org/W3023846712","https://openalex.org/W3041078985","https://openalex.org/W3089750699","https://openalex.org/W3090705381","https://openalex.org/W3090829738","https://openalex.org/W3092218351","https://openalex.org/W3093175803","https://openalex.org/W3093922502","https://openalex.org/W3101175487","https://openalex.org/W3101817006","https://openalex.org/W3101870171","https://openalex.org/W3102994022","https://openalex.org/W3103075896","https://openalex.org/W3103345480","https://openalex.org/W3103727237","https://openalex.org/W3104876774","https://openalex.org/W3105161877","https://openalex.org/W3112664346","https://openalex.org/W3132444912","https://openalex.org/W3134918303","https://openalex.org/W3142410314","https://openalex.org/W3156261936","https://openalex.org/W3172790817","https://openalex.org/W3180158572","https://openalex.org/W3185436048","https://openalex.org/W3205156363","https://openalex.org/W3206833690","https://openalex.org/W3207637958","https://openalex.org/W3209332701","https://openalex.org/W3217762956","https://openalex.org/W4205430897","https://openalex.org/W4221167814","https://openalex.org/W4225669925","https://openalex.org/W4233654529","https://openalex.org/W4241459016","https://openalex.org/W4246876444","https://openalex.org/W4253729359","https://openalex.org/W4283734789","https://openalex.org/W4292071985","https://openalex.org/W4293160779","https://openalex.org/W4293775970","https://openalex.org/W4312749288","https://openalex.org/W4378696928","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,22,43,49,67,107,129,131,135],"hybrid":[4,79,120,141,166],"motion":[5],"planning":[6,69],"and":[7,16,52,113,134,148,164],"control":[8],"approach":[9,20],"applicable":[10],"to":[11,25,34,71,125],"various":[12],"ground":[13],"robot":[14],"types":[15],"morphologies.":[17],"Our":[18,119],"two-step":[19],"uses":[21],"sampling-based":[23,40],"planner":[24,80,95,121,143],"compute":[26,82],"an":[27],"approximate":[28],"motion,":[29],"which":[30],"is":[31,169],"then":[32],"fed":[33],"numerical":[35],"optimization":[36,62,92],"for":[37,84,90],"refinement.":[38],"The":[39,77,159],"stage":[41],"finds":[42],"long-term":[44],"global":[45],"plan":[46],"consisting":[47],"of":[48,54,100,117],"contact":[50,108],"schedule":[51],"sequence":[53],"keyframes,":[55],"i.e.,":[56],"stable":[57],"whole-body":[58],"configurations.":[59],"Subsequently,":[60],"the":[61,64,145],"refines":[63],"solution":[65],"with":[66,156],"short-term":[68],"horizon":[70],"satisfy":[72],"all":[73],"nonlinear":[74],"dynamics":[75],"constraints.":[76],"proposed":[78],"can":[81],"plans":[83,168],"scenarios":[85],"that":[86,104,162],"would":[87],"be":[88],"difficult":[89],"trajectory":[91],"or":[93],"sampling":[94],"alone.":[96],"We":[97,138],"present":[98],"tasks":[99],"traversing":[101],"challenging":[102],"terrain":[103],"requires":[105],"discovering":[106],"schedule,":[109],"navigating":[110],"nonconvex":[111],"obstacles,":[112],"coordinating":[114],"many":[115],"degrees":[116],"freedom.":[118],"has":[122],"been":[123],"applied":[124],"three":[126],"different":[127],"robots:":[128],"quadruped,":[130,133],"wheeled":[132],"legged":[136],"excavator.":[137],"validate":[139],"our":[140],"locomotion":[142,167],"in":[144,173],"real":[146,174],"world":[147],"simulation,":[149],"generating":[150],"behaviors":[151],"we":[152],"could":[153],"not":[154],"achieve":[155],"previous":[157],"methods.":[158],"results":[160],"show":[161],"computing":[163],"executing":[165],"possible":[170],"on":[171],"hardware":[172],"time.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
