{"id":"https://openalex.org/W4403122887","doi":"https://doi.org/10.1109/tro.2024.3475047","title":"Topology-Driven Parallel Trajectory Optimization in Dynamic Environments","display_name":"Topology-Driven Parallel Trajectory Optimization in Dynamic Environments","publication_year":2024,"publication_date":"2024-10-04","ids":{"openalex":"https://openalex.org/W4403122887","doi":"https://doi.org/10.1109/tro.2024.3475047"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3475047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3475047","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069461952","display_name":"Oscar de Groot","orcid":"https://orcid.org/0000-0001-6527-7367"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Oscar de Groot","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-6527-7367","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-3856-6221","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085298812","display_name":"Dariu M. Gavrila","orcid":"https://orcid.org/0000-0002-1810-4196"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dariu M. Gavrila","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-1810-4196","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-0058-570X","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Dept. of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":4.6593,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.96409684,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"110","last_page":"126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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":0.996999979019165,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9717000126838684,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T12292","display_name":"Graph Theory and Algorithms","score":0.9397000074386597,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6726291179656982},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6052728295326233},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5937500596046448},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5841259360313416},{"id":"https://openalex.org/keywords/topology-optimization","display_name":"Topology optimization","score":0.5534440279006958},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1976335644721985},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12790167331695557},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.08255007863044739}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6726291179656982},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6052728295326233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5937500596046448},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5841259360313416},{"id":"https://openalex.org/C189216461","wikidata":"https://www.wikidata.org/wiki/Q2443456","display_name":"Topology optimization","level":3,"score":0.5534440279006958},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1976335644721985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12790167331695557},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.08255007863044739},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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":1,"locations":[{"id":"doi:10.1109/tro.2024.3475047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3475047","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1507290626","https://openalex.org/W1544320653","https://openalex.org/W1971086298","https://openalex.org/W1992787855","https://openalex.org/W2032924574","https://openalex.org/W2107338474","https://openalex.org/W2128990851","https://openalex.org/W2161473822","https://openalex.org/W2167052694","https://openalex.org/W2227909145","https://openalex.org/W2294538342","https://openalex.org/W2335799662","https://openalex.org/W2549200707","https://openalex.org/W2724806769","https://openalex.org/W2750823073","https://openalex.org/W2809102580","https://openalex.org/W2904303363","https://openalex.org/W2909324603","https://openalex.org/W2923817898","https://openalex.org/W2963105220","https://openalex.org/W2963369550","https://openalex.org/W2964319688","https://openalex.org/W2968473746","https://openalex.org/W2970816301","https://openalex.org/W2989707382","https://openalex.org/W3038423780","https://openalex.org/W3043256667","https://openalex.org/W3090649643","https://openalex.org/W3114470638","https://openalex.org/W3159022532","https://openalex.org/W3181376804","https://openalex.org/W3195538019","https://openalex.org/W3197234345","https://openalex.org/W3199379010","https://openalex.org/W4310113038","https://openalex.org/W4311443477","https://openalex.org/W4383108442","https://openalex.org/W4383180485","https://openalex.org/W4388692454","https://openalex.org/W6858233408","https://openalex.org/W6865799631","https://openalex.org/W7066470421"],"related_works":["https://openalex.org/W2081304691","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W3018492858","https://openalex.org/W2127556255","https://openalex.org/W279903623","https://openalex.org/W2378339670"],"abstract_inverted_index":{"Ground":[0],"robots":[1],"navigating":[2,149],"in":[3,27,86,99,138],"complex,":[4],"dynamic":[5,65],"environments":[6,66],"must":[7],"compute":[8,24],"collision-free":[9],"trajectories":[10,72,85,91,158],"to":[11,23,35,47,73,113,156],"avoid":[12],"obstacles":[13],"safely":[14],"and":[15,39,49,78],"efficiently.":[16],"Nonconvex":[17],"optimization":[18,62],"is":[19],"a":[20,25,58,114,123,139,146],"popular":[21],"method":[22],"trajectory":[26,61,133],"real":[28],"time.":[29],"However,":[30],"these":[31],"methods":[32],"often":[33],"converge":[34],"locally":[36,111],"optimal":[37],"solutions":[38],"frequently":[40],"switch":[41],"between":[42],"different":[43,124],"local":[44,96,120],"minima,":[45],"leading":[46],"inefficient":[48],"unsafe":[50],"robot":[51,128,148],"motion.":[52],"In":[53],"this":[54],"work,":[55],"we":[56],"propose":[57],"novel":[59],"topology-driven":[60],"strategy":[63],"for":[64],"that":[67,152],"plans":[68],"multiple":[69],"distinct":[70,87],"evasive":[71,125],"enhance":[74],"the":[75,105,131,135],"robot's":[76],"behavior":[77],"efficiency.":[79],"A":[80],"global":[81],"planner":[82,103,121],"iteratively":[83],"generates":[84],"homotopy":[88,116],"classes.":[89],"These":[90],"are":[92,110],"then":[93,129],"optimized":[94],"by":[95],"planners":[97],"working":[98],"parallel.":[100],"While":[101],"each":[102,119],"shares":[104],"same":[106],"navigation":[107],"objectives,":[108],"they":[109],"constrained":[112],"specific":[115],"class,":[117],"meaning":[118],"attempts":[122],"maneuver.":[126],"The":[127],"executes":[130],"feasible":[132],"with":[134],"lowest":[136],"cost":[137],"receding":[140],"horizon":[141],"manner.":[142],"We":[143],"demonstrate":[144],"on":[145],"mobile":[147],"among":[150],"pedestrians":[151],"our":[153],"approach":[154],"leads":[155],"faster":[157],"than":[159],"existing":[160],"planners.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
