{"id":"https://openalex.org/W4402834931","doi":"https://doi.org/10.1109/vtc2024-spring62846.2024.10683386","title":"A Novel Gradient-Based Motion Planning for Single-Track Two-Wheeled Robots in Complex Environments","display_name":"A Novel Gradient-Based Motion Planning for Single-Track Two-Wheeled Robots in Complex Environments","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4402834931","doi":"https://doi.org/10.1109/vtc2024-spring62846.2024.10683386"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2024-spring62846.2024.10683386","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/vtc2024-spring62846.2024.10683386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 99th Vehicular Technology Conference (VTC2024-Spring)","raw_type":"proceedings-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/A5066002791","display_name":"Mingfang Liu","orcid":"https://orcid.org/0000-0002-7565-4928"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingfang Liu","raw_affiliation_strings":["Research Institute of Tsinghua University in Shenzhen,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Research Institute of Tsinghua University in Shenzhen,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091791221","display_name":"Zhang Chen","orcid":"https://orcid.org/0000-0002-7521-3751"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Chen","raw_affiliation_strings":["Tsinghua university,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua university,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100697244","display_name":"Cheng Li","orcid":"https://orcid.org/0000-0001-6377-2102"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Li","raw_affiliation_strings":["Research Institute of Tsinghua University in Shenzhen,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Research Institute of Tsinghua University in Shenzhen,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013703026","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0001-9131-5478"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua university,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua university,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066002791"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16182826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9796000123023987,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9781000018119812,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7041473984718323},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.7028300762176514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6374073028564453},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5947627425193787},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5497718453407288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5087948441505432},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4751669764518738},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46151989698410034}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7041473984718323},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.7028300762176514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6374073028564453},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5947627425193787},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5497718453407288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5087948441505432},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4751669764518738},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46151989698410034},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vtc2024-spring62846.2024.10683386","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/vtc2024-spring62846.2024.10683386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 99th Vehicular Technology Conference (VTC2024-Spring)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8465316650","display_name":null,"funder_award_id":"62073183","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":13,"referenced_works":["https://openalex.org/W1559814819","https://openalex.org/W1971086298","https://openalex.org/W2078676277","https://openalex.org/W2161819990","https://openalex.org/W2169528473","https://openalex.org/W2772356073","https://openalex.org/W2903506349","https://openalex.org/W2949691147","https://openalex.org/W3206295144","https://openalex.org/W4200503177","https://openalex.org/W4226381010","https://openalex.org/W4385800512","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"Single-track":[0],"two-wheeled":[1,41],"robots":[2],"with":[3,112],"the":[4,76,86,100,121,130],"excellent":[5],"characteristics":[6],"of":[7,39,56],"lightweight,":[8],"trafficability":[9],"and":[10,20,48,60,136],"maneuverability":[11],"exhibit":[12],"great":[13],"potential":[14],"in":[15,22,35,58],"goods":[16],"transportation,":[17],"field":[18],"patrol":[19],"exploration":[21],"narrow":[23],"environments.":[24,62],"Motion":[25],"planning":[26,51,133],"as":[27,107,109],"an":[28,32,46,64],"indispensable":[29],"component":[30],"acts":[31],"essential":[33],"role":[34],"autonomous":[36],"navigation":[37],"systems":[38],"single-track":[40],"robots.":[42],"This":[43],"paper":[44],"presents":[45],"efficient":[47],"robust":[49],"motion":[50,132],"framework":[52],"for":[53],"this":[54],"type":[55],"robot":[57],"unknown":[59],"unstructured":[61],"Firstly,":[63],"initial":[65,101],"trajectory":[66,102,122],"is":[67,95],"generated":[68],"without":[69],"regard":[70],"to":[71,79,98],"obstacles.":[72,113],"Then,":[73],"we":[74],"obtain":[75],"lattice":[77],"graph":[78],"search":[80],"a":[81],"feasible":[82],"path":[83],"based":[84],"on":[85],"simplified":[87],"kinematic":[88],"bicycle":[89],"model.":[90],"The":[91,114],"collision":[92],"penalty":[93],"function":[94],"immediately":[96],"established":[97],"push":[99],"far":[103],"away":[104],"from":[105],"obstacles":[106],"long":[108],"it":[110],"collides":[111],"time":[115],"allocation":[116],"can":[117],"be":[118],"lengthened":[119],"if":[120],"cannot":[123],"ensure":[124],"dynamical":[125],"feasibility.":[126],"Simulation":[127],"experiments":[128],"demonstrate":[129],"proposed":[131],"has":[134],"robustness":[135],"high-performance.":[137]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
