{"id":"https://openalex.org/W4417336874","doi":"https://doi.org/10.1109/tro.2025.3644358","title":"Curvature-Constrained Vector Field for Motion Planning of Nonholonomic Robots","display_name":"Curvature-Constrained Vector Field for Motion Planning of Nonholonomic Robots","publication_year":2025,"publication_date":"2025-12-15","ids":{"openalex":"https://openalex.org/W4417336874","doi":"https://doi.org/10.1109/tro.2025.3644358"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2025.3644358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3644358","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":null,"display_name":"Yike Qiao","orcid":"https://orcid.org/0009-0003-7249-5671"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Yike Qiao","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-7249-5671","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaodong He","orcid":"https://orcid.org/0000-0003-0457-5664"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong He","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0457-5664","affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120286581","display_name":"An Zhuo","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"An Zhuo","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-5043-8444","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778346","display_name":"Zhiyong Sun","orcid":"https://orcid.org/0000-0002-4700-1479"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Zhiyong Sun","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4700-1479","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056569506","display_name":"Weimin Bao","orcid":"https://orcid.org/0000-0002-1851-1330"},"institutions":[{"id":"https://openalex.org/I2802615301","display_name":"China Aerospace Science and Technology Corporation","ror":"https://ror.org/01z8tr155","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Bao","raw_affiliation_strings":["China Aerospace Science and Technology Corporation, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1851-1330","affiliations":[{"raw_affiliation_string":"China Aerospace Science and Technology Corporation, Beijing, China","institution_ids":["https://openalex.org/I2802615301"]}]},{"author_position":"last","author":{"id":null,"display_name":"Zhongkui Li","orcid":"https://orcid.org/0000-0002-9361-4305"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Zhongkui Li","raw_affiliation_strings":["School of Advanced Manufacturing and Robotics, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9361-4305","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing and Robotics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9349,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81944732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"42","issue":null,"first_page":"455","last_page":"474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5199999809265137,"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":0.5199999809265137,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.15369999408721924,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.043699998408555984,"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/control-theory","display_name":"Control theory (sociology)","score":0.7337999939918518},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6916000247001648},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6226000189781189},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.586899995803833},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5152000188827515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5120999813079834},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.4657999873161316},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4537000060081482},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4499000012874603}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7337999939918518},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6916000247001648},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6226000189781189},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.586899995803833},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5152000188827515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5120999813079834},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.4657999873161316},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46160000562667847},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4537000060081482},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3926999866962433},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3776000142097473},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.37209999561309814},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.36039999127388},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30640000104904175},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29159998893737793},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2912999987602234},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.27079999446868896},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2574000060558319},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.25540000200271606},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3644358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3644358","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":[],"awards":[{"id":"https://openalex.org/G1276146209","display_name":null,"funder_award_id":"62425301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2848795203","display_name":null,"funder_award_id":"62503042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3719102041","display_name":null,"funder_award_id":"62533017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4606779385","display_name":null,"funder_award_id":"62373008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5455908029","display_name":null,"funder_award_id":"U2241214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8670534201","display_name":null,"funder_award_id":"T2121002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1557324374","https://openalex.org/W1616170069","https://openalex.org/W1971086298","https://openalex.org/W2009439553","https://openalex.org/W2025984802","https://openalex.org/W2028087201","https://openalex.org/W2035625658","https://openalex.org/W2050814236","https://openalex.org/W2069522844","https://openalex.org/W2093814383","https://openalex.org/W2109791194","https://openalex.org/W2116842611","https://openalex.org/W2119955255","https://openalex.org/W2127795189","https://openalex.org/W2133361850","https://openalex.org/W2139707781","https://openalex.org/W2143017110","https://openalex.org/W2169199905","https://openalex.org/W2171841639","https://openalex.org/W2185377362","https://openalex.org/W2313274380","https://openalex.org/W2418555985","https://openalex.org/W2510630379","https://openalex.org/W2570164482","https://openalex.org/W2896943870","https://openalex.org/W2927173594","https://openalex.org/W2943157449","https://openalex.org/W2945338643","https://openalex.org/W3000813861","https://openalex.org/W3020709569","https://openalex.org/W3109702511","https://openalex.org/W3190111598","https://openalex.org/W3197246339","https://openalex.org/W3207957463","https://openalex.org/W4283737832","https://openalex.org/W4312990068","https://openalex.org/W4390569102","https://openalex.org/W4399110618","https://openalex.org/W4399834880","https://openalex.org/W4404582162","https://openalex.org/W4407950519"],"related_works":[],"abstract_inverted_index":{"Vector":[0],"fields":[1],"are":[2],"advantageous":[3],"in":[4,123,206],"handling":[5],"non":[6],"holonomic":[7],"motion":[8],"planning,":[9],"as":[10],"they":[11],"provide":[12],"the":[13,19,30,33,36,41,57,61,65,69,78,82,89,98,106,124,141,151,154,163,169,182,200],"robot":[14,67,90,158],"with":[15,72,134,174],"reference":[16,164],"orientation":[17],"across":[18],"workspace.":[20,125],"However,":[21],"additionally":[22],"incorporating":[23],"curvature":[24],"constraints":[25],"presents":[26],"challenges":[27],"due":[28],"to":[29,55,68,91,94,161,168],"interconnection":[31],"between":[32],"design":[34],"of":[35],"curvature-bounded":[37,73],"vector":[38,58,114],"field":[39,59,115],"and":[40,60,105,119,166,194],"tracking":[42,142],"controller":[43],"under":[44,139],"limited":[45],"actuation.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50,76,110],"present":[51],"a":[52,112,130],"novel":[53],"framework":[54],"co-develop":[56],"control":[62,132,152],"law,":[63,153],"guiding":[64],"nonholonomic":[66,157],"target":[70,83,99,170],"configuration":[71],"trajectory.":[74],"First,":[75],"formulate":[77],"problem":[79],"by":[80],"introducing":[81],"positive":[84,171],"limit":[85,172],"set,":[86],"which":[87,140],"allows":[88],"either":[92],"converge":[93,167],"or":[95],"pass":[96],"through":[97],"configuration,":[100],"depending":[101],"on":[102,191],"its":[103],"dynamics":[104],"specific":[107],"tasks.":[108],"Next,":[109],"construct":[111],"curvature-constrained":[113],"(CVF)":[116],"via":[117],"blending":[118],"embedding":[120],"elementary":[121],"flows":[122],"To":[126],"track":[127,162],"such":[128],"CVF,":[129],"saturated":[131],"law":[133],"dynamic":[135],"gains":[136],"is":[137,159],"proposed,":[138],"error's":[143],"magnitude":[144],"decreases":[145],"even":[146],"when":[147],"saturation":[148],"occurs.":[149],"Under":[150],"kinematically":[155],"constrained":[156],"guaranteed":[160],"CVF":[165,184],"set":[173],"bounded":[175],"trajectory":[176],"curvature.":[177],"Numerical":[178],"simulations":[179],"show":[180],"that":[181,199],"proposed":[183],"method":[185,201],"outperforms":[186],"other":[187],"vector-field-based":[188],"algorithms.":[189],"Experiments":[190],"Ackermann":[192],"UGVs":[193],"semi-physical":[195],"fixed-wing":[196],"UAVs":[197],"demonstrate":[198],"can":[202],"be":[203],"effectively":[204],"implemented":[205],"real-world":[207],"scenarios.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-15T00:00:00"}