{"id":"https://openalex.org/W2980440874","doi":"https://doi.org/10.1109/uemcon47517.2019.8993031","title":"A Feedback Motion Plan for Vehicles with Bounded Curvature Constraints","display_name":"A Feedback Motion Plan for Vehicles with Bounded Curvature Constraints","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2980440874","doi":"https://doi.org/10.1109/uemcon47517.2019.8993031","mag":"2980440874"},"language":"en","primary_location":{"id":"doi:10.1109/uemcon47517.2019.8993031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/uemcon47517.2019.8993031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 10th Annual Ubiquitous Computing, Electronics &amp; Mobile Communication Conference (UEMCON)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.06460","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057883241","display_name":"Giovanni Miraglia","orcid":"https://orcid.org/0000-0002-5213-2860"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giovanni Miraglia","raw_affiliation_strings":["Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","University of Tulsa;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","institution_ids":["https://openalex.org/I87208437"]},{"raw_affiliation_string":"University of Tulsa;","institution_ids":["https://openalex.org/I87208437"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073978887","display_name":"Loyd R. Hook","orcid":"https://orcid.org/0000-0002-5098-0997"},"institutions":[{"id":"https://openalex.org/I87208437","display_name":"University of Tulsa","ror":"https://ror.org/04wn28048","country_code":"US","type":"education","lineage":["https://openalex.org/I87208437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Loyd R. Hook","raw_affiliation_strings":["Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","University of Tulsa;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, The University of Tulsa, Tulsa, Oklahoma, USA","institution_ids":["https://openalex.org/I87208437"]},{"raw_affiliation_string":"University of Tulsa;","institution_ids":["https://openalex.org/I87208437"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87208437"],"apc_list":null,"apc_paid":null,"fwci":0.1008,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4497804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"18","issue":null,"first_page":"1180","last_page":"1186"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9943000078201294,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9882000088691711,"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/plan","display_name":"Plan (archaeology)","score":0.7017678022384644},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6441267132759094},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6328019499778748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6008337736129761},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5728886723518372},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5311490297317505},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5309144258499146},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4788613021373749},{"id":"https://openalex.org/keywords/wavefront","display_name":"Wavefront","score":0.4746014475822449},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4712938368320465},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44281837344169617},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.41282394528388977},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4127594530582428},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4108751714229584},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3519129157066345},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3288857340812683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2568210959434509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19085419178009033},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1537659764289856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1507873237133026},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11660975217819214},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11536955833435059},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11328113079071045},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10725456476211548}],"concepts":[{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.7017678022384644},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6441267132759094},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6328019499778748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6008337736129761},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5728886723518372},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5311490297317505},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5309144258499146},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4788613021373749},{"id":"https://openalex.org/C165699331","wikidata":"https://www.wikidata.org/wiki/Q461533","display_name":"Wavefront","level":2,"score":0.4746014475822449},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4712938368320465},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44281837344169617},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.41282394528388977},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4127594530582428},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4108751714229584},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3519129157066345},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3288857340812683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2568210959434509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19085419178009033},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1537659764289856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1507873237133026},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11660975217819214},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11536955833435059},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11328113079071045},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10725456476211548},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/uemcon47517.2019.8993031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/uemcon47517.2019.8993031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 10th Annual Ubiquitous Computing, Electronics &amp; Mobile Communication Conference (UEMCON)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.06460","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.06460","pdf_url":"https://arxiv.org/pdf/1910.06460","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2980440874","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1910.06460","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.06460","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.06460","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.06460","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.06460","pdf_url":"https://arxiv.org/pdf/1910.06460","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7599999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2980440874.pdf","grobid_xml":"https://content.openalex.org/works/W2980440874.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W2000359213","https://openalex.org/W2053407718","https://openalex.org/W2098519927","https://openalex.org/W2109814287","https://openalex.org/W2113286054","https://openalex.org/W2125186487","https://openalex.org/W2146500120","https://openalex.org/W2152687842","https://openalex.org/W2154722715","https://openalex.org/W2159956441","https://openalex.org/W2165744968","https://openalex.org/W2169779711","https://openalex.org/W2171841639","https://openalex.org/W2304939664","https://openalex.org/W2313274380","https://openalex.org/W2497078197","https://openalex.org/W2767250484","https://openalex.org/W3006391308","https://openalex.org/W3210316629","https://openalex.org/W4247582681"],"related_works":["https://openalex.org/W3005801102","https://openalex.org/W2980457584","https://openalex.org/W2468927877","https://openalex.org/W177577979","https://openalex.org/W2993680573","https://openalex.org/W2914909147","https://openalex.org/W2949165605","https://openalex.org/W2911075136","https://openalex.org/W3155354891","https://openalex.org/W60768693","https://openalex.org/W2987913372","https://openalex.org/W3045888462","https://openalex.org/W3200237795","https://openalex.org/W1884436109","https://openalex.org/W2922120039","https://openalex.org/W2903690466","https://openalex.org/W641289191","https://openalex.org/W2901768878","https://openalex.org/W427858174","https://openalex.org/W299041473"],"abstract_inverted_index":{"The":[0,31,106,118],"use":[1,90],"of":[2,8,13,23,27,33,76,83,91,126,138],"a":[3,35,68,92,96],"feedback":[4,36,69],"motion":[5,37,70],"plan":[6,15,38,46,71,128],"instead":[7],"the":[9,21,25,40,44,74,77,81,89,103,121,124,127],"decoupled":[10],"scheme":[11],"consisting":[12],"separate":[14],"and":[16,95,115,129,136],"control":[17],"phases":[18],"can":[19,59],"facilitate":[20],"task":[22],"proving":[24],"properties":[26],"an":[28],"autonomous":[29],"system.":[30],"advantage":[32],"using":[34],"is":[39,108],"possibility":[41],"to":[42,80],"validate":[43],"whole":[45],"offline":[47],"before":[48],"its":[49],"execution,":[50],"which":[51],"means":[52],"that":[53],"trajectories":[54,135],"having":[55,85],"different":[56],"initial":[57],"states":[58],"be":[60],"tested":[61],"simultaneously.":[62],"In":[63],"this":[64],"paper,":[65],"we":[66],"formulate":[67],"based":[72],"on":[73],"extension":[75],"wavefront":[78],"expansion":[79],"case":[82],"vehicles":[84],"bounded":[86],"curvature.":[87],"Additionally,":[88],"transition":[93],"function":[94],"Gaussian":[97],"filter":[98],"limits":[99],"undesired":[100],"oscillations":[101],"in":[102],"resultant":[104],"trajectories.":[105],"method":[107],"suitable":[109],"for":[110,123],"both":[111],"single":[112],"goal":[113],"missions":[114],"path":[116],"following.":[117],"paper":[119],"illustrates":[120],"algorithm":[122],"generation":[125],"presents":[130],"simulation":[131],"data":[132],"containing":[133],"example":[134],"analysis":[137],"tuning":[139],"parameters.":[140],"Finally,":[141],"future":[142],"developments":[143],"are":[144],"discussed.":[145]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2025-10-10T00:00:00"}
