{"id":"https://openalex.org/W3043550678","doi":"https://doi.org/10.1145/3395363.3397387","title":"Feasible and stressful trajectory generation for mobile robots","display_name":"Feasible and stressful trajectory generation for mobile robots","publication_year":2020,"publication_date":"2020-07-13","ids":{"openalex":"https://openalex.org/W3043550678","doi":"https://doi.org/10.1145/3395363.3397387","mag":"3043550678"},"language":"en","primary_location":{"id":"doi:10.1145/3395363.3397387","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3395363.3397387","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3395363.3397387","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 29th ACM SIGSOFT International Symposium on Software Testing and Analysis","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3395363.3397387","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084508993","display_name":"Carl Hildebrandt","orcid":null},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Carl Hildebrandt","raw_affiliation_strings":["University of Virginia, USA"],"affiliations":[{"raw_affiliation_string":"University of Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025318877","display_name":"Sebastian Elbaum","orcid":"https://orcid.org/0000-0001-9592-1352"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Elbaum","raw_affiliation_strings":["University of Virginia, USA"],"affiliations":[{"raw_affiliation_string":"University of Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091277504","display_name":"Nicola Bezzo","orcid":"https://orcid.org/0000-0001-6627-5048"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicola Bezzo","raw_affiliation_strings":["University of Virginia, USA"],"affiliations":[{"raw_affiliation_string":"University of Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086757331","display_name":"Matthew B. Dwyer","orcid":"https://orcid.org/0000-0002-1937-1544"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew B. Dwyer","raw_affiliation_strings":["University of Virginia, USA"],"affiliations":[{"raw_affiliation_string":"University of Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084508993"],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":0.5889,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.69176186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"349","last_page":"362"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/trajectory","display_name":"Trajectory","score":0.8801935911178589},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7383368015289307},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7120664119720459},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.700029194355011},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6827662587165833},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4869021475315094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4351201057434082},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.41404807567596436},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4097749590873718},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11767405271530151},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11117097735404968}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8801935911178589},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7383368015289307},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7120664119720459},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.700029194355011},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6827662587165833},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4869021475315094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4351201057434082},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.41404807567596436},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4097749590873718},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11767405271530151},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11117097735404968},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3395363.3397387","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3395363.3397387","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3395363.3397387","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 29th ACM SIGSOFT International Symposium on Software Testing and Analysis","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:3900144","is_oa":true,"landing_page_url":"https://zenodo.org/record/3900144","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"doi:10.1145/3395363.3397387","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3395363.3397387","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3395363.3397387","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 29th ACM SIGSOFT International Symposium on Software Testing and Analysis","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2198668877","display_name":null,"funder_award_id":"W911NF-19-1-0054","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G2279853913","display_name":null,"funder_award_id":"W911NF-19-1","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5658809381","display_name":null,"funder_award_id":"CCF-1853374 and CCF-1901769","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5852598055","display_name":"SHF:Small: Holistic Analysis: integrating the semantics of the world and the code","funder_award_id":"1853374","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G608057831","display_name":null,"funder_award_id":"W911NF-19","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7786950574","display_name":null,"funder_award_id":"1901769","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8415477955","display_name":null,"funder_award_id":"W911NF-19","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3043550678.pdf","grobid_xml":"https://content.openalex.org/works/W3043550678.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W55757567","https://openalex.org/W619501020","https://openalex.org/W1553335074","https://openalex.org/W1557969103","https://openalex.org/W1596127723","https://openalex.org/W1601055277","https://openalex.org/W1612624539","https://openalex.org/W1898022672","https://openalex.org/W1969409474","https://openalex.org/W2026019548","https://openalex.org/W2033547469","https://openalex.org/W2073406525","https://openalex.org/W2088842637","https://openalex.org/W2101234009","https://openalex.org/W2116364955","https://openalex.org/W2124803650","https://openalex.org/W2128990851","https://openalex.org/W2147629985","https://openalex.org/W2162991084","https://openalex.org/W2163268899","https://openalex.org/W2170724701","https://openalex.org/W2187250581","https://openalex.org/W2278635584","https://openalex.org/W2298907094","https://openalex.org/W2328067583","https://openalex.org/W2495601248","https://openalex.org/W2503877315","https://openalex.org/W2529927010","https://openalex.org/W2535870504","https://openalex.org/W2564317698","https://openalex.org/W2564442086","https://openalex.org/W2566243177","https://openalex.org/W2669655952","https://openalex.org/W2736332383","https://openalex.org/W2744941094","https://openalex.org/W2758682197","https://openalex.org/W2884745705","https://openalex.org/W2888307014","https://openalex.org/W2890092611","https://openalex.org/W2891056855","https://openalex.org/W2891541689","https://openalex.org/W2907176640","https://openalex.org/W2912493354","https://openalex.org/W2917321477","https://openalex.org/W2930418732","https://openalex.org/W2952402617","https://openalex.org/W2957066083","https://openalex.org/W2962702177","https://openalex.org/W2963327228","https://openalex.org/W2965126789","https://openalex.org/W2969033227","https://openalex.org/W3003909477","https://openalex.org/W3098394944","https://openalex.org/W3105818906"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"While":[0],"executing":[1],"nominal":[2],"tests":[3,13],"on":[4,120,171,199],"mobile":[5,114],"robots":[6],"is":[7,33,45,146],"required":[8],"for":[9,39,109,134],"their":[10],"validation,":[11],"such":[12,30],"may":[14],"overlook":[15],"faults":[16],"that":[17,21,72,154,190,206],"arise":[18],"under":[19],"trajectories":[20,32,108,205],"accentuate":[22],"certain":[23],"aspects":[24],"of":[25,80,113,123,140],"the":[26,36,49,81,84,138,141,155,158,191,212],"robot's":[27],"behavior.":[28],"Uncovering":[29],"stressful":[31,107],"challenging":[34],"as":[35,42],"input":[37],"space":[38],"these":[40],"systems,":[41],"they":[43],"move,":[44],"extremely":[46],"large,":[47],"and":[48,55,76,94,143,153,163,175],"relation":[50],"between":[51],"a":[52,70,97,110,124,128,165,173,180,200],"planned":[53],"trajectory":[54,86],"its":[56],"potential":[57],"to":[58,90,101,148,195,209],"induce":[59,196],"stress":[60,178,198],"can":[61,169],"be":[62],"subtle.":[63],"To":[64],"address":[65],"this":[66],"challenge":[67],"we":[68],"propose":[69],"framework":[71],"1)":[73],"integrates":[74],"kinematic":[75,142],"dynamic":[77,144],"physical":[78],"models":[79],"robot":[82],"into":[83],"automated":[85],"generation":[87],"in":[88,127],"order":[89],"generate":[91,103,149],"valid":[92,105,151,184],"trajectories,":[93,137],"2)":[95],"incorporates":[96],"parameterizable":[98],"scoring":[99,161,167],"model":[100,145,162,168],"efficiently":[102],"physically":[104],"yet":[106],"broad":[111],"range":[112],"robots.":[115],"We":[116,131],"evaluate":[117],"our":[118],"approach":[119,156,192],"four":[121],"variants":[122],"state-of-the-art":[125],"quadrotor":[126],"racing":[129],"simulator.":[130],"find":[132],"that,":[133],"non-trivial":[135],"length":[136],"incorporation":[139],"crucial":[147],"any":[150],"trajectory,":[152],"with":[157,164,204],"best":[159],"hand-crafted":[160],"trained":[166],"cause":[170],"average":[172],"55.9%":[174],"41.3%":[176],"more":[177],"than":[179],"random":[181],"selection":[182],"among":[183],"trajectories.":[185],"A":[186],"follow-up":[187],"study":[188],"shows":[189],"was":[193],"able":[194],"similar":[197],"deployed":[201],"commercial":[202],"quadrotor,":[203],"deviated":[207],"up":[208],"6m":[210],"from":[211],"intended":[213],"ones.":[214]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
