{"id":"https://openalex.org/W4386266061","doi":"https://doi.org/10.1109/tvt.2023.3309554","title":"Cone Slalom With Automated Sports Car\u2013Trajectory Planning Algorithm","display_name":"Cone Slalom With Automated Sports Car\u2013Trajectory Planning Algorithm","publication_year":2023,"publication_date":"2023-08-29","ids":{"openalex":"https://openalex.org/W4386266061","doi":"https://doi.org/10.1109/tvt.2023.3309554"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3309554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3309554","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/A5039174863","display_name":"Zden\u011bk Hanz\u00e1lek","orcid":"https://orcid.org/0000-0002-8135-1296"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Zden\u011bk Hanz\u00e1lek","raw_affiliation_strings":["Industrial Informatics Department, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Industrial Informatics Department, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085037539","display_name":"Ji\u0159\u00ed Z\u00e1hora","orcid":"https://orcid.org/0000-0001-7607-1364"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Ji\u0159\u00ed Z\u00e1hora","raw_affiliation_strings":["Industrial Informatics Department, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Industrial Informatics Department, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085476423","display_name":"Micha\u0142 S\u00f3jka","orcid":"https://orcid.org/0000-0002-8738-075X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Michal Sojka","raw_affiliation_strings":["Industrial Informatics Department, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Industrial Informatics Department, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039174863"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.3611,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59752589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"73","issue":"1","first_page":"362","last_page":"374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9941999912261963,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6567754745483398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5550885796546936},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45378443598747253},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39392292499542236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3606695532798767},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10280343890190125}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6567754745483398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5550885796546936},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45378443598747253},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39392292499542236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3606695532798767},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10280343890190125},{"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/tvt.2023.3309554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3309554","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G1658366562","display_name":null,"funder_award_id":"GACR 22-31670S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W25900783","https://openalex.org/W1508945008","https://openalex.org/W1524699577","https://openalex.org/W1544016679","https://openalex.org/W1578293866","https://openalex.org/W1973269033","https://openalex.org/W1974795838","https://openalex.org/W1987206750","https://openalex.org/W2055404495","https://openalex.org/W2060797806","https://openalex.org/W2111204826","https://openalex.org/W2246545501","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2343806141","https://openalex.org/W2406941252","https://openalex.org/W2547019696","https://openalex.org/W2557430988","https://openalex.org/W2577695053","https://openalex.org/W2615547864","https://openalex.org/W2616635592","https://openalex.org/W2791746233","https://openalex.org/W2795543364","https://openalex.org/W2804678892","https://openalex.org/W2896138087","https://openalex.org/W2914283047","https://openalex.org/W2914872182","https://openalex.org/W2921180939","https://openalex.org/W2963854248","https://openalex.org/W2990733219","https://openalex.org/W3007886928","https://openalex.org/W3037126605","https://openalex.org/W3047366950","https://openalex.org/W3119563569","https://openalex.org/W3126202486","https://openalex.org/W4200116773","https://openalex.org/W4205484088","https://openalex.org/W4213058176","https://openalex.org/W4225349279","https://openalex.org/W4225555528","https://openalex.org/W4229043326","https://openalex.org/W4285138909","https://openalex.org/W4285359404","https://openalex.org/W4309344373","https://openalex.org/W4313132546","https://openalex.org/W4384522495","https://openalex.org/W6758919432","https://openalex.org/W6772802753"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W2382290278"],"abstract_inverted_index":{"In":[0],"this":[1,58],"article,":[2],"we":[3],"present":[4],"the":[5,38,41,49,55,85,113,118,121,133,142,154,158,161,168],"system":[6,129,155],"architecture":[7],"and":[8,44,67,84,137,152,172],"algorithms":[9],"of":[10,40,54,141,160],"an":[11,34,45],"automated":[12],"vehicle":[13,110,119,134,151],"to":[14,97,146],"perform":[15],"a":[16,20,64,75,99,149],"slalom.":[17],"We":[18],"demonstrate":[19],"novel":[21],"trajectory":[22,107,114,124],"planning":[23],"algorithm":[24],"based":[25],"on":[26,120],"optimization":[27,102],"techniques":[28],"using":[29],"logic-based":[30],"Benders":[31],"decomposition,":[32],"where":[33],"external":[35],"loop":[36,47],"optimizes":[37],"position":[39],"nearest":[42],"waypoint":[43],"internal":[46],"generates":[48],"optimal":[50,106],"trajectory.":[51],"The":[52,127],"positions":[53],"cones":[56],"in":[57,74],"use":[59],"case":[60],"are":[61],"unknown,":[62],"but":[63],"mono":[65],"camera":[66],"LiDAR":[68],"detect":[69],"them.":[70],"They":[71],"can":[72,87],"be":[73,88],"line":[76],"or":[77,81,90],"dispersed,":[78],"have":[79],"equal":[80],"unequal":[82],"spacing,":[83],"U-turns":[86],"symmetric":[89],"asymmetric.":[91],"A":[92],"bicycle":[93],"model":[94],"is":[95,130],"used":[96],"formulate":[98],"non-linear":[100],"quadratic":[101],"problem":[103],"aimed":[104],"at":[105],"generation":[108],"considering":[109],"kinematics.":[111],"Finally,":[112],"tracking":[115],"control":[116,128],"keeps":[117],"planned":[122],"slalom":[123],"while":[125],"driving.":[126],"interfaced":[131],"with":[132,148],"via":[135],"CAN":[136],"FlexRay":[138],"buses.":[139],"Much":[140],"work":[143],"was":[144],"devoted":[145],"experiments":[147],"real":[150],"fine-tuning":[153],"parameters.":[156],"During":[157],"validation":[159],"system,":[162],"interesting":[163],"observations":[164],"were":[165],"made":[166],"regarding":[167],"components'":[169],"precision,":[170],"frequency,":[171],"sensitivity.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}