{"id":"https://openalex.org/W3015837712","doi":"https://doi.org/10.1109/tvt.2020.2985546","title":"Motion Planning Approach Considering Localization Uncertainty","display_name":"Motion Planning Approach Considering Localization Uncertainty","publication_year":2020,"publication_date":"2020-04-06","ids":{"openalex":"https://openalex.org/W3015837712","doi":"https://doi.org/10.1109/tvt.2020.2985546","mag":"3015837712"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.2985546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.2985546","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5018205809","display_name":"Antonio Artu\u00f1edo","orcid":"https://orcid.org/0000-0003-2161-9876"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Artunedo","raw_affiliation_strings":["Centre for Automation and Robotics, Arganda del Rey, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2161-9876","affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067242816","display_name":"Jorge Villagr\u00e1","orcid":"https://orcid.org/0000-0002-3963-7952"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Villagra","raw_affiliation_strings":["Centre for Automation and Robotics, Arganda del Rey, Spain"],"raw_orcid":"https://orcid.org/0000-0002-3963-7952","affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065896680","display_name":"Jorge Godoy","orcid":"https://orcid.org/0000-0002-3132-5348"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Godoy","raw_affiliation_strings":["Centre for Automation and Robotics, Arganda del Rey, Spain"],"raw_orcid":"https://orcid.org/0000-0002-3132-5348","affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033450211","display_name":"M. Dolores del Castillo","orcid":"https://orcid.org/0000-0002-9366-4484"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Maria Dolores del Castillo","raw_affiliation_strings":["Centre for Automation and Robotics, Arganda del Rey, Spain"],"raw_orcid":"https://orcid.org/0000-0002-9366-4484","affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7409,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.91939434,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"69","issue":"6","first_page":"5983","last_page":"5994"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/motion-planning","display_name":"Motion planning","score":0.6919573545455933},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6468570232391357},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6451858282089233},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5974184274673462},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.549013078212738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5224584341049194},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4710374176502228},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.41241738200187683},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41122862696647644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3792625367641449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3674766421318054},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2190856635570526},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20672401785850525},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10760107636451721}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6919573545455933},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6468570232391357},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6451858282089233},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5974184274673462},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.549013078212738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5224584341049194},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4710374176502228},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.41241738200187683},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41122862696647644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3792625367641449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3674766421318054},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2190856635570526},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20672401785850525},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10760107636451721},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2020.2985546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.2985546","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:digital.csic.es:10261/218679","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/218679","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"art\u00edculo"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1286296525","display_name":null,"funder_award_id":"783119","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"},{"id":"https://openalex.org/G3773806072","display_name":null,"funder_award_id":"ECSEL-783190-2","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4723255008","display_name":null,"funder_award_id":"783190","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"},{"id":"https://openalex.org/G5854360794","display_name":null,"funder_award_id":"S2018-EMT-4362","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G669439031","display_name":null,"funder_award_id":"783119","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7445864139","display_name":null,"funder_award_id":"SEGVAUTO 4.0-CM","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G8389782976","display_name":null,"funder_award_id":"783190","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8828374763","display_name":null,"funder_award_id":"DPI2017-86915-C3-1-R","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320327207","display_name":"Electronic Components and Systems for European Leadership","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W24904180","https://openalex.org/W1502051703","https://openalex.org/W1543403541","https://openalex.org/W1544016679","https://openalex.org/W1546814349","https://openalex.org/W1587799944","https://openalex.org/W1826354755","https://openalex.org/W1864112212","https://openalex.org/W1965487488","https://openalex.org/W1980556250","https://openalex.org/W1989345169","https://openalex.org/W2000140632","https://openalex.org/W2000790002","https://openalex.org/W2005443352","https://openalex.org/W2009278230","https://openalex.org/W2017977027","https://openalex.org/W2032924574","https://openalex.org/W2055501135","https://openalex.org/W2071401582","https://openalex.org/W2107668352","https://openalex.org/W2122556364","https://openalex.org/W2128990851","https://openalex.org/W2152422164","https://openalex.org/W2164429173","https://openalex.org/W2169683785","https://openalex.org/W2170220350","https://openalex.org/W2184505340","https://openalex.org/W2192586580","https://openalex.org/W2293313346","https://openalex.org/W2343568200","https://openalex.org/W2343781317","https://openalex.org/W2567267560","https://openalex.org/W2750147881","https://openalex.org/W2782474430","https://openalex.org/W2803301662","https://openalex.org/W2905524254","https://openalex.org/W2912780020","https://openalex.org/W2963504694","https://openalex.org/W2970374010","https://openalex.org/W2996598994","https://openalex.org/W4296154082","https://openalex.org/W6678276302","https://openalex.org/W6686110097","https://openalex.org/W6743558609"],"related_works":["https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2137520303","https://openalex.org/W4293877624","https://openalex.org/W1536392978","https://openalex.org/W2142360609"],"abstract_inverted_index":{"Localization":[0],"plays":[1],"an":[2],"important":[3],"role":[4],"in":[5,14,29,35,57,71,124,148],"autonomous":[6],"driving":[7,116],"since":[8],"a":[9,20,87,98,149],"high":[10],"level":[11],"of":[12,24,41],"accuracy":[13,40],"vehicle":[15,36],"localization":[16,42,64,93,130],"is":[17,117],"indispensable":[18],"for":[19,92,114],"safe":[21,121],"navigation.":[22],"Most":[23],"the":[25,30,39,55,63,76,109,129,140],"motion":[26,72,99,111],"planning":[27,73,100,112],"approaches":[28],"literature":[31],"assume":[32],"negligible":[33],"uncertainty":[34,65,94],"localization.":[37],"However,":[38],"systems":[43],"can":[44,51,66],"be":[45,67],"low":[46],"by":[47],"design":[48],"or":[49],"even":[50],"drop":[52],"depending":[53],"on":[54,104],"environment":[56],"some":[58],"cases.":[59],"In":[60,136],"these":[61],"situations,":[62],"taken":[68],"into":[69],"consideration":[70],"to":[74,119,138],"increase":[75],"system":[77],"reliability.":[78],"Accordingly,":[79],"this":[80],"work":[81],"presents":[82],"two":[83],"main":[84],"contributions:":[85],"(i)":[86],"probabilistic":[88],"occupancy":[89,106],"grid-based":[90],"approach":[91],"propagation,":[95],"and":[96,134],"(ii)":[97],"strategy":[101],"that":[102],"relies":[103],"such":[105],"grid.":[107],"Thus,":[108],"proposed":[110,141],"solution":[113],"automated":[115],"able":[118],"generate":[120],"human-like":[122],"trajectories":[123],"real":[125,150],"time":[126],"while":[127],"considering":[128],"uncertainty,":[131],"ego-vehicle":[132],"constrains":[133],"obstacles.":[135],"order":[137],"validate":[139],"algorithms,":[142],"several":[143],"experiments":[144],"have":[145],"been":[146],"conducted":[147],"environment.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}